MEMS IMU/ZUPT Based Cubature Kalman Filter applied to Pedestrian Navigation System
| Main Authors: | Benzerrouk, Hamza, Nebylov, Alexander, Salhi, Hassen, Closas, Pau |
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| Format: | Proceeding |
| Terbitan: |
, 2014
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| Subjects: | |
| Online Access: |
https://zenodo.org/record/582946 |
Daftar Isi:
- In most related work with Pedestrian navigation, indirect filtering approach is used based on linear error based Kalman Filter (KF). In this research, it is proposed to outperform this approach by the use of direct filtering approach. Based on only MEMS IMU, we propose the use of modern algorithms developed in the last decade; Sigma Point Kalman Filters (SPKF), and recently developed Cubature Kalman Filter (CKF) as a superior alternative to all previous filters. The CKF improves the mean and covariance propagation as compared with EKF and previous SPKF (UKF, CDKF). Although the CKF provides a better estimate of the orientation, velocity and position with Zero velocity UPdaTes (ZUPT) and Zero Angular Rate UpdaTes (ZARUT) measurements. Cubature Information Filter has been also implemented for sake of completeness.