In this paper, several Global Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented Kalman filter (UKF), and evaluated with respect to performance and complexity. The contributions of this study are that attitude estimates are compared with independent measurements provided by a mechanical vertical gyroscope using 23 diverse sets of flight data, and that a fundamental difference between EKF and UKF with respect to linearization is evaluated.
|Original language||English (US)|
|Number of pages||12|
|Journal||IEEE Transactions on Aerospace and Electronic Systems|
|State||Published - 2012|
All Science Journal Classification (ASJC) codes
- Aerospace Engineering
- Electrical and Electronic Engineering