A Constrained Total Extended Kalman Filter for Integrated Navigation. (26th February 2018)

• Record Type: Journal Article
• Authors: Mahboub, Vahid; Mohammadi, Dorsa
• Is Part Of: Journal of navigation. Volume 71:Number 4(2018)
• Page Start: 971
• Page End: 988
• Publication Date: 2018-02-26
• Subjects: Total Kalman Filter, -- Extended Kalman Filter, -- Integrated Navigation, -- Dynamic Errors-in-Variables; Navigation -- Periodicals; 623.8905
• DOI: 10.1017/S0373463318000012
• Languages: English
• ISSNs: 0373-4633

Abstract

Abstract : In this contribution, an improved Extended Kalman Filter (EKF), named the Total Extended Kalman Filter (TEKF) is proposed for integrated navigation. It can consider the neglected random observed quantities which may appear in a dynamic model. In particular, this paper will consider the case of vision-based navigation. This algorithm is equipped with quadratic constraints and makes use of condition equations. The paper will show that the refined data from different sensors including a Global Positioning System (GPS) receiver, an Inertial Navigation System (INS) and remote sensors can be fused into a Constrained Total Extended Kalman Filter (CTEKF) algorithm. The CTEKF algorithm is applied to a case study in the Guilan province in the north of Iran. The results show the efficiency of the proposed algorithm.