Journal Title Electronics and Electrical Engineering Journal Abbreviation elt Publisher Group Kaunas University of Technology (KTU) Open Journal Systems (KTU) Website http://www.eejournal.ktu.lt/index.php/elt

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Title	Adaptive Extended Kalman Filter for Aided Inertial Navigation System
Authors	Bistrovs, V.; Kluga, A.
Abstract	In this work inertial and GPS data fusion using EKF is presented. The EKF algorithm performance is very sensitive to it initial parameters choice. It’s quite difficult to determine optimal parameters for Q and R matrices of EKF. This problem becomes more serious if low cost GPS receiver and MEMS IMU are used as integrated navigation system.  The adaptive filter helps to solve this problem in optimal manner. The results of adaptive EKF performance during GPS signal outages are presented.   The comparison of conventional and adaptive EKF for sensor data processing was made. It was shown that adaptive EKF outperforms conventional EKF in case of GPS signal outages. Ill. 7, bibl. 6, tabl. 2 (in English; abstracts in English and Lithuanian).DOI: http://dx.doi.org/10.5755/j01.eee.122.6.1818
Publisher	Kaunas University of Technology
Date	2012-06-11
Source	Elektronika ir elektrotechnika Vol 122, No 6 (2012)
Rights	Autorių teisės yra apibrėžtos Lietuvos Respublikos autorių teisių ir gretutinių teisių įstatymo 4-37 straipsniuose.

 

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