A PHP Error was encountered

Severity: Warning

Message: file_get_contents(https://...@remsenmedia.com&api_key=81853a771c3a3a2c6b2553a65bc33b056f08&a=1): Failed to open stream: HTTP request failed! HTTP/1.1 429 Too Many Requests

Filename: helpers/my_audit_helper.php

Line Number: 176

Backtrace:

File: /var/www/html/application/helpers/my_audit_helper.php
Line: 176
Function: file_get_contents

File: /var/www/html/application/helpers/my_audit_helper.php
Line: 250
Function: simplexml_load_file_from_url

File: /var/www/html/application/helpers/my_audit_helper.php
Line: 3122
Function: getPubMedXML

File: /var/www/html/application/controllers/Detail.php
Line: 575
Function: pubMedSearch_Global

File: /var/www/html/application/controllers/Detail.php
Line: 489
Function: pubMedGetRelatedKeyword

File: /var/www/html/index.php
Line: 316
Function: require_once

An improved Kalman filter algorithm for tightly GNSS/INS integrated navigation system. | LitMetric

An improved Kalman filter algorithm for tightly GNSS/INS integrated navigation system.

Math Biosci Eng

School of Transportation and Logistics, Dalian University of Technology, Dalian 116024, China.

Published: January 2024

The Kalman filter based on singular value decomposition (SVD) can sufficiently reduce the accumulation of rounding errors and is widely used in various applications with numerical calculations. However, in order to improve the filtering performance and adaptability in a tightly GNSS/INS (Global Navigation Satellite System and Inertial Navigation System) integrated navigation system, we propose an improved robust method to satisfy the requirements. To solve the issue of large fluctuations in GNSS signals faced by the conventional method that uses a fixed noise covariance, the proposed method constructs a correction variable through the innovation and the new matrix which is obtained by performing SVD on the original matrix, dynamically correcting the noise covariance and has better robustness. In addition, the derived SVD form of the information filter (IF) extends its application. The proposed method has higher positioning accuracy and can be better applied to tightly coupled GNSS/INS navigation simulations and physical experiments. The experimental results show that, compared with the traditional Kalman algorithm based on SVD, the proposed algorithm*s maximum error is reduced by 45.77%. Compared with the traditional IF algorithm, the root mean squared error of the proposed IF algorithm in the form of SVD is also reduced by 4.7%.

Download full-text PDF

Source
http://dx.doi.org/10.3934/mbe.2024040DOI Listing

Publication Analysis

Top Keywords

navigation system
12
kalman filter
8
tightly gnss/ins
8
integrated navigation
8
noise covariance
8
proposed method
8
compared traditional
8
navigation
5
svd
5
improved kalman
4

Similar Publications

Want AI Summaries of new PubMed Abstracts delivered to your In-box?

Enter search terms and have AI summaries delivered each week - change queries or unsubscribe any time!