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Jwo D.-J.,National Taiwan Ocean University | Chung F.-C.,National Taiwan Ocean University | Yu K.-L.,Systems and Technology Corporation
Applied Mechanics and Materials | Year: 2013

This paper presents the interacting multiple model (IMM) particle filters with application to navigation sensor fusion. Performance evaluation for various single model nonlinear filters as well as nonlinear filters with IMM framework is carried out. A high gain (high bandwidth) filter is needed to response fast enough to the platform maneuvers while a low gain filter is necessary to reduce the estimation errors during the uniform motion periods. The IMM estimator obtains its estimate as a weighted sum of the individual estimates from a number of parallel filters matched to different motion modes of the platform. Based on a soft-switching framework, the IMM algorithm allows the possibility of using highly dynamic models just when required. The use of an IMM allows exploiting the benefits of high dynamic models in the problem of vehicle navigation. Some results presented in this paper confirm the improvements. © (2013) Trans Tech Publications, Switzerland. Source


Jwo D.J.,National Taiwan Ocean University | Chung F.C.,Inventec Appliances | Yu K.L.,Systems and Technology Corporation
Journal of Applied Research and Technology | Year: 2013

In this paper, performance evaluation for various single model nonlinear filters and nonlinear filters with interacting multiple model (IMM) framework is carried out. A high gain (high bandwidth) filter is needed to response fast enough to the platform maneuvers while a low gain filter is necessary to reduce the estimation errors during the uniform motion periods. Based on a soft-switching framework, the IMM algorithm allows the possibility of using highly dynamic models just when required, diminishing unrealistic noise considerations in non-maneuvering situations. The IMM estimator obtains its estimate as a weighted sum of the individual estimates from a number of parallel filters matched to different motion modes of the platform. The use of an IMM allows exploiting the benefits of high dynamic models in the problem of vehicle navigation. Simulation and experimental results presented in this paper confirm the effectiveness of the method. Source


Jwo D.-J.,National Taiwan Ocean University | Shih J.-H.,National Taiwan Ocean University | Hsu C.-S.,National Taiwan Ocean University | Yu K.-L.,Systems and Technology Corporation
Journal of Marine Science and Technology (Taiwan) | Year: 2014

This paper presents a strapdown inertial navigation system (SINS) simulation platform. The numerical simulator solves the navigation equations in navigation frame where the quaternion vector is employed for attitude calculation. The measured quantities (angular body rates and specific force) are generated by the numerical simulator. The results are also confirmed with the navigation solutions given by a commercial inertial navigation system toolbox using the generated body angular rates and specific force of the SINS. The paper can provide the readers with further information for developing their own SINS simulation tools. Source

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