An efficiency algorithm on Gaussian mixture UKF for BDS/INS navigation system

To further improve the performance of UKF (Unscented Kalman Filter) algorithm used in BDS/SINS (BeiDou Navigation Satellite System/Strap down Inertial Navigation System), an improved GM-UKF (Gaussian Mixture Unscented Kalman Filter) considering non-Gaussian distribution is discussed in this paper. T...

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Main Authors: Qing Dai, Lifen Sui, Lingxuan Wang, Tian Zeng, Yuan Tian
Format: Article
Language:English
Published: KeAi Communications Co., Ltd. 2018-03-01
Series:Geodesy and Geodynamics
Online Access:http://www.sciencedirect.com/science/article/pii/S1674984717302288
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spelling doaj-a55384dad6c94a8f9a18d730e74cf61e2021-02-02T00:37:33ZengKeAi Communications Co., Ltd.Geodesy and Geodynamics1674-98472018-03-0192169174An efficiency algorithm on Gaussian mixture UKF for BDS/INS navigation systemQing Dai0Lifen Sui1Lingxuan Wang2Tian Zeng3Yuan Tian4Corresponding author.; Dept. Spatial Information, Information Engineering University, Zhengzhou, 450000, PR ChinaDept. Spatial Information, Information Engineering University, Zhengzhou, 450000, PR ChinaDept. Spatial Information, Information Engineering University, Zhengzhou, 450000, PR ChinaDept. Spatial Information, Information Engineering University, Zhengzhou, 450000, PR ChinaDept. Spatial Information, Information Engineering University, Zhengzhou, 450000, PR ChinaTo further improve the performance of UKF (Unscented Kalman Filter) algorithm used in BDS/SINS (BeiDou Navigation Satellite System/Strap down Inertial Navigation System), an improved GM-UKF (Gaussian Mixture Unscented Kalman Filter) considering non-Gaussian distribution is discussed in this paper. This new algorithm using SVD (Singular Value Decomposition) is proposed to alternative covariance square root calculation in UKF sigma point production. And to end the rapidly increasing number of Gaussian distributions, PDF (Probability Density Function) re-approximation is conducted. In principle this efficiency algorithm proposed here can achieve higher computational speed compared with traditional GM-UKF. And simulation experiment result show that, compared with UKF and GM-UKF algorithm, new algorithm implemented in BDS/SINS tightly integrated navigation system is suitable for handling nonlinear/non-Gaussian integrated navigation position calculation, for its lower computational complexity with high accuracy. Keywords: Gaussian mixture, UKF, Singular Value Decomposition, Integrated navigation, Time complexityhttp://www.sciencedirect.com/science/article/pii/S1674984717302288
collection DOAJ
language English
format Article
sources DOAJ
author Qing Dai
Lifen Sui
Lingxuan Wang
Tian Zeng
Yuan Tian
spellingShingle Qing Dai
Lifen Sui
Lingxuan Wang
Tian Zeng
Yuan Tian
An efficiency algorithm on Gaussian mixture UKF for BDS/INS navigation system
Geodesy and Geodynamics
author_facet Qing Dai
Lifen Sui
Lingxuan Wang
Tian Zeng
Yuan Tian
author_sort Qing Dai
title An efficiency algorithm on Gaussian mixture UKF for BDS/INS navigation system
title_short An efficiency algorithm on Gaussian mixture UKF for BDS/INS navigation system
title_full An efficiency algorithm on Gaussian mixture UKF for BDS/INS navigation system
title_fullStr An efficiency algorithm on Gaussian mixture UKF for BDS/INS navigation system
title_full_unstemmed An efficiency algorithm on Gaussian mixture UKF for BDS/INS navigation system
title_sort efficiency algorithm on gaussian mixture ukf for bds/ins navigation system
publisher KeAi Communications Co., Ltd.
series Geodesy and Geodynamics
issn 1674-9847
publishDate 2018-03-01
description To further improve the performance of UKF (Unscented Kalman Filter) algorithm used in BDS/SINS (BeiDou Navigation Satellite System/Strap down Inertial Navigation System), an improved GM-UKF (Gaussian Mixture Unscented Kalman Filter) considering non-Gaussian distribution is discussed in this paper. This new algorithm using SVD (Singular Value Decomposition) is proposed to alternative covariance square root calculation in UKF sigma point production. And to end the rapidly increasing number of Gaussian distributions, PDF (Probability Density Function) re-approximation is conducted. In principle this efficiency algorithm proposed here can achieve higher computational speed compared with traditional GM-UKF. And simulation experiment result show that, compared with UKF and GM-UKF algorithm, new algorithm implemented in BDS/SINS tightly integrated navigation system is suitable for handling nonlinear/non-Gaussian integrated navigation position calculation, for its lower computational complexity with high accuracy. Keywords: Gaussian mixture, UKF, Singular Value Decomposition, Integrated navigation, Time complexity
url http://www.sciencedirect.com/science/article/pii/S1674984717302288
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