Publication detail

Numerical Aspects of Inertial Navigation

PAPEŽ, M. PIVOŇKA, P.

Original Title

Numerical Aspects of Inertial Navigation

Type

conference paper

Language

English

Original Abstract

This paper presents an investigation of the possibility of using the fixed-point arithmetic in the inertial navigation systems which use the local level navigation frame mechanization equations. Two square root filtering methods, the Potter's square root Kalman filter and UD factorized Kalman filter, are compared with respect to the conventional Kalman filter and its Joseph's stabilized form. The effect of rounding errors to the Kalman filter optimality is evaluated for various lengths of the fractional part of the fixed-point computational word. Main contribution of this research lies in an evaluation of the minimal fixed-point arithmetic word length for the Phi-angle error model with noise statistics which correspond to the tactical grade inertial measurements units.

Keywords

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

Authors

PAPEŽ, M.; PIVOŇKA, P.

RIV year

2013

Released

25. 9. 2013

Publisher

Elsevier B.V.

Location

Velké Karlovice

ISBN

9783902823533

Book

12th IFAC Conference on Programmable Devices and Embedded Systems

ISBN

1474-6670

Periodical

Programmable devices and systems

Year of study

2013

Number

1

State

United Kingdom of Great Britain and Northern Ireland

Pages from

262

Pages to

267

Pages count

6

BibTex

@inproceedings{BUT102051,
  author="Milan {Papež} and Petr {Pivoňka}",
  title="Numerical Aspects of Inertial Navigation",
  booktitle="12th IFAC Conference on Programmable Devices and Embedded Systems",
  year="2013",
  journal="Programmable devices and systems",
  volume="2013",
  number="1",
  pages="262--267",
  publisher="Elsevier B.V.",
  address="Velké Karlovice",
  isbn="9783902823533",
  issn="1474-6670"
}