Detail publikačního výsledku

Numerical Aspects of Inertial Navigation

PAPEŽ, M.; PIVOŇKA, P.

Originální název

Numerical Aspects of Inertial Navigation

Anglický název

Numerical Aspects of Inertial Navigation

Druh

Stať ve sborníku v databázi WoS či Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova

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

Klíčová slova v angličtině

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

Autoři

PAPEŽ, M.; PIVOŇKA, P.

Rok RIV

2014

Vydáno

25.09.2013

Nakladatel

Elsevier B.V.

Místo

Velké Karlovice

ISBN

9783902823533

Kniha

12th IFAC Conference on Programmable Devices and Embedded Systems

ISSN

1474-6670

Periodikum

Programmable devices and systems

Svazek

2013

Číslo

1

Stát

Spojené království Velké Británie a Severního Irska

Strany od

262

Strany do

267

Strany počet

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"
}