Comparison of Kalman Filters for Inertial Integrated Navigation

Abstract

The current research on integrated navigation is mainly focused on filtering or integrated navigation equipment. Studies systematically comparing and analyzing how to choose appropriate integrated filtering methods under different circumstances are lacking. This paper focuses on integrated navigation filters that are used by different filters and attitude parameters for inertial integrated navigation. We researched integrated navigation filters, established algorithms, and examined the relative merits for practical integrated navigation. Some suggestions for the use of filtering algorithms are provided. We completed simulations and car-mounted experiments for low-cost strapdown inertial navigation system (SINS) to assess the performance of the integrated navigation filtering algorithms.

Keywords

• integrated navigation
• attitude
• multiplicative quaternion
• extended kalman filter
• unscented kalman filter