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- W2377120953 abstract "With the tightly-coupled micro-altitude and heading reference system/global positioning system(AHRS/GPS) as research object,a mathematical model fusing pseudo_range,pseudo_range rate and heading measurements was established.Due to the large drifts of micro-inertial measurement units,a quadratic extended Kalman filter(QEKF) approach was introduced as a substitute for conventional EKF.According to Taylor's expanding theory,we compensated the second-order truncation errors caused by linearization of measurement equations through evaluating the Hessian matrix.A simulation indicated that the QEKF model meets the real navigation environment,with the mean square deviation for attitude and positional errors never exceeding 90 s and 3 m respectively,better than the results obtained using the standard EKF scheme under the same conditions." @default.
- W2377120953 created "2016-06-24" @default.
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- W2377120953 date "2008-01-01" @default.
- W2377120953 modified "2023-09-22" @default.
- W2377120953 title "The quadratic EKF approach for AHRS/GPS integration based on the pseudo_range-pseudo_range rate-heading measurement model" @default.
- W2377120953 hasPublicationYear "2008" @default.
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