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- W2779930615 abstract "Navigation is a typical field of nonlinear dynamic systems, and in the core of navigation system development lies the problem of estimating the states of a dynamic system. This paper reviews the implementation of the extended Kalman filters (EKF) and the unscented Kalman filter (UKF) for the integration of low-cost inertial navigation system (INS) and GPS. Performance of the two filters are compared using field tests with three different MEMS-based IMUs. Although the two filters showed similar performance in most situations, the UKF can deal with large attitude errors without devising a special INS error model. Therefore, the UKF can find its own applications where large attitude errors are expected to occur." @default.
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- W2779930615 date "2005-01-26" @default.
- W2779930615 modified "2023-09-22" @default.
- W2779930615 title "Performance Comparison of the Extended and the Unscented Kalman Filter for Integrated GPS and MEMS-Based Inertial Systems" @default.
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