Publication detail

Numerical Aspects of Inertial Navigation

PAPEŽ, M.

Original Title

Numerical Aspects of Inertial Navigation

Czech Title

Numerické aspekty inerciální navigace

English Title

Numerical Aspects of Inertial Navigation

Type

conference paper

Language

en

Original Abstract

This paper presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems. Two square root filtering methods are copared with respect to conventional Kalman filter and its Joseph's stabilized form. Main contribution of this research lies in the evaluation of the minimal effective fixed point arithmetic word length for the pressented Phi angle error model with considered noise statistics.

Czech abstract

Tato práce prezentuje vyšetřování možnosti použití aritmetiky s pevnou řádovou čárkou v inerciálních navigačních systémech. Dvě odmocninové formy Kalmanova filtru jsou porovnány s konvenčním Kalmanovým filtrem a jeho Josephovou stabilizovanou verzí. Hlavní přínos této práce leží ve vyhodnocení minimální efektivní délky výpočetního slova aritmetiky v pevné řádové čárce pro chybový model Phi s uvažovanými statistikami šumu.

English abstract

This paper presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems. Two square root filtering methods are copared with respect to conventional Kalman filter and its Joseph's stabilized form. Main contribution of this research lies in the evaluation of the minimal effective fixed point arithmetic word length for the pressented Phi angle error model with considered noise statistics.

Keywords

Inertial navigation, multisensor data fusion, Kalman filtering, square root filtering, fixed-point arithmetics, Phi angle error model, 15-state navigation algorithm

RIV year

2013

Released

25.04.2013

Publisher

LITERA

Location

Tábor 43a, 61200 Brno

ISBN

978-80-214-4694-6

Book

Proceedings of the 19th Conference STUDENT EEICT 2013 Volume 2

Edition number

1

Pages from

96

Pages to

98

Pages count

3

BibTex


@inproceedings{BUT101740,
  author="Milan {Papež}",
  title="Numerical Aspects of Inertial Navigation",
  annote="This paper presents an investigation of the possibility of using the fixed-point arithmetic
in the inertial navigation systems. Two square root filtering methods are copared with respect to
conventional Kalman filter and its Joseph's stabilized form. Main contribution of this research lies in
the evaluation of the minimal effective fixed point arithmetic word length for the pressented Phi angle
error model with considered noise statistics.",
  address="LITERA",
  booktitle="Proceedings of the 19th Conference STUDENT EEICT 2013 Volume 2",
  chapter="101740",
  howpublished="print",
  institution="LITERA",
  year="2013",
  month="april",
  pages="96--98",
  publisher="LITERA",
  type="conference paper"
}