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Comparison of linearized and extended Kalman filter in GPS-aided inertial navigation system.

机译：GPS辅助惯性导航系统中线性化和扩展卡尔曼滤波器的比较。

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One of the disadvantages of an inertial navigation system (INS) is its errors will grow unbounded. The global positioning system (GPS) can be used to improve position estimation resulting from INS measurement. The Kalman filter method is used to fuse measurements from the systems (INS and GPS). When the channels available in the GPS receiver are restricted, the receiver has to choose the combination of satellites, which will give the lowest noises in the GPS measurement signal. In this thesis, the method to find the optimal combination of the satellites has been examined. To effect the change of satellite combination an error estimation has been investigated and presented. The comparison of the implementation of indirect half feedback and indirect feedforward Kalman filter configurations in an aircraft has been performed and analyzed. The GPS and INS measurement signals used in this experiment are real data, which was recorded on an aircraft during the flight. The experiment shows the relation between combination of the satellites and the estimated position and velocity of the aircraft. The improvements in the indirect half feedback configuration are also achieved.
机译：惯性导航系统（INS）的缺点之一是其误差会无限增长。全球定位系统（GPS）可用于改善INS测量产生的位置估计。卡尔曼滤波方法用于融合系统（INS和GPS）的测量结果。当GPS接收机中可用的信道受到限制时，接收机必须选择卫星的组合，这将使GPS测量信号中的噪声最小。本文研究了寻找卫星最佳组合的方法。为了影响卫星组合的变化，已经研究并提出了误差估计。已经对飞机中间接半反馈和间接前馈卡尔曼滤波器配置的实施方式进行了比较。本实验中使用的GPS和INS测量信号是真实数据，在飞行过程中记录在飞机上。实验显示了卫星组合与估计的飞机位置和速度之间的关系。还实现了间接半反馈配置的改进。

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