27th Congress of International Council of the Aeronautical Sciences, 19 - 24 September 2010, Nice, France
Paper ICAS 2010-7.2.3

INTERACTING MULTIPLE MODEL ADAPTIVE UNSCENTED KALMAN FILTERS FOR NAVIGATION SENSOR FUSION

D. Jwo, M. Chen, C. Tseng*
National Taiwan Ocean Univ., Taiwan, China; *National Center for High-Performance Computing, Taiwan, China

Keywords: unscented kalman filters, adaptive model, sensor fusion

This paper presents an interacting multiple model adaptive unscented Kalman filter (IMM-AUKF) with application to navigation sensor fusion. The proposed IMM-AUKF algorithm shows promising improvement in both estimation accuracy and stability as compared to the AUKF and IMM-UKF approaches.

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