Reliability Analysis of the Kalman Filter for INS/GPS Integrated Navigation System Applied to Train

Seong Cho, Chang Kang, Kyung Shin

Abstract

This paper aims to analyse the navigation performance that can be provided by the navigation system when applying the INS/GPS integrated navigation system to the train. The performance of the Kalman filter integrating INS and GPS can be summarized by the integrity of the measurement and the observability of the filter. Assuming the integrity of the GPS information used as a measurement is always satisfied, the performance of the filter can eventually be analysed by the observability. The observability of the filter depends on the dynamic trajectory of the train. Because the train has a non-holonomic constraint and one-dimensional motion, the filter design and the performance analysis are carried out considering this. We analyse the observability of the filter through simulation and explain the limit of the filter and the flaw of the observability. We also analyse the reliability of the navigation system and present additional research directions.

Download


Paper Citation


in Harvard Style

Cho S., Kang C. and Shin K. (2019). Reliability Analysis of the Kalman Filter for INS/GPS Integrated Navigation System Applied to Train.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 237-242. DOI: 10.5220/0007832602370242


in Bibtex Style

@conference{icinco19,
author={Seong Cho and Chang Kang and Kyung Shin},
title={Reliability Analysis of the Kalman Filter for INS/GPS Integrated Navigation System Applied to Train},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={237-242},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007832602370242},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Reliability Analysis of the Kalman Filter for INS/GPS Integrated Navigation System Applied to Train
SN - 978-989-758-380-3
AU - Cho S.
AU - Kang C.
AU - Shin K.
PY - 2019
SP - 237
EP - 242
DO - 10.5220/0007832602370242