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    Attitude determination from GNSS using adaptive Kalman filtering

    Access Status
    Fulltext not available
    Authors
    El-Mowafy, Ahmed
    Mohamed, A.
    Date
    2005
    Type
    Journal Article
    
    Metadata
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    Citation
    El-Mowafy, A. and Mohamed, A. 2005. Attitude determination from GNSS using adaptive Kalman filtering. Journal of Navigation. 58 (1): pp. 135-148.
    Source Title
    Journal of Navigation
    DOI
    10.1017/S0373463304003042
    ISSN
    0373-4633
    URI
    http://hdl.handle.net/20.500.11937/36068
    Collection
    • Curtin Research Publications
    Abstract

    An adaptive Kalman filtering approach is proposed for attitude determination to replace the fixed (conventional) Kalman filtering approach. The filter is used to adaptively reflect system dynamics changes or rapid changes in vehicle trajectory. The estimation procedure is carried out through the use of a measurement residual sequence. The sequence is used as a piece-wise stationary process inside an estimation window. The measurement noise covariance matrix and the system noise matrix are adaptively estimated. An extended Kalman filter approach with iteration of the states within-an-epoch was performed to overcome the non-linearity of the observation equations. A test was performed to evaluate the proposed technique. Different trajectory scenarios are presented to show the difference in performance between the adaptive Kalman filter and the conventional one. Results show that the proposed adoptive filtering approach has a better performance than the conventional filter.

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