The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Sigma-point Kalman filtering for integrated GPS and inertial navigation
Abstract
A sigma-point Kalman filter is derived for integrating GPS measurements with inertial measurements from gyros and accelerometers to determine both the position and the attitude of a moving vehicle. Sigma-point filters use a carefully selected set of sample points to more accurately map the probability distribution than the linearization of the standard extended Kalman filter (KKF), leading to faster convergence from inaccurate initial conditions in position/attitude estimation problems. The filter formulation is based on standard inertial navigation equations. The global attitude parameterization is given by a quaternion, while a generalized three-dimensional attitude representation is used to define the local attitude error. A multiplicative quaternion-error approach is used to guarantee that quaternion normalization is maintained in the filter. Simulation and experimental results are shown to compare the performance of the sigma-point filter with a standard EKF approach.
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Cites
Golub, G. (2012) · doi:10.56021/9781421407944 · Cited by 34,505
Kalman filtering for relative spacecraft attitude and position estimation
Kim, S.-G., Crassidis, J. L., Cheng, Y., Fosbury, A. M., & Junkins, J. L. (2007) · Journal of Guidance Control and Dynamics · doi:10.2514/1.22377 · Cited by 320
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Wallace, L., Lucieer, A., Watson, C., & Turner, D. (2012) · Remote Sensing · doi:10.3390/rs4061519 · Cited by 710
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Pham, M. D., Low, K. S., Goh, S. T., & Chen, S. (2015) · IEEE Transactions on Aerospace and Electronic Systems · doi:10.1109/taes.2014.130204 · Cited by 51
Metadata
- Authors
- Crassidis, J. L.
- Venue
- IEEE Transactions on Aerospace and Electronic Systems
- Published
- 2006-04
- Volume
- 42
- Issue
- 2
- Pages
- 750-756
- ISSN
- 0018-9251 (ISSN-L)
- OpenAlex
- W2157907881
- Cited by
- 358
- References
- 2
- FWCI
- 24.04
- Type
- journal article
- Language
- en
- Open access
- closed
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