A NAVIGATION SYSTEM WITH EFFICENT KALMAN FILTER REALIZED ON EMBEDDED SYSTEM

Zhang Cheng; Pei Hailong; Zhao Dawei

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A NAVIGATION SYSTEM WITH EFFICENT KALMAN FILTER REALIZED ON EMBEDDED SYSTEM

Zhang Cheng 1 #,Pei Hailong 2 *,Zhao Dawei 1

1.Key Laboratory of Autonomous System and Networked Control (Ministry of Education), South China University of Technology

2. Key Laboratory of Technology for Safeguarding of Marine Rights and Interests and Application, SOA

*Correspondence author

#Submitted by

Subject:

Funding: the Specialized Research Fund for the Doctoral Program of Higher Education （No.No. 20100172110023）

Opened online:19 March 2014

Accepted by: none

Citation: Zhang Cheng,Pei Hailong,Zhao Dawei.A NAVIGATION SYSTEM WITH EFFICENT KALMAN FILTER REALIZED ON EMBEDDED SYSTEM[OL]. [19 March 2014] http://en.paper.edu.cn/en_releasepaper/content/4589155

This paper addresses the high efficiency of improved Extended Kalman Filter(EKF) to make the signal mixed with noise more accurate and significant. Navigation system aims to provide real-time information of positions, velocities, attitude-angles, however, because of perturbations existing in the envirionment and in the process so that the useful signal is covered to some extent. Anyway, kalman filtering algorithm can effectively restrain the performance deterioration. In order to reduce computation, two optimized methods are explicitly presented: system deposition which deposits a 11×11 system matrix into a 5×5 and a 6×6 matrix ignoring the slight coupling relation and improved algorithm of matrix inversion that sufficiently avoids the singular situation. Aforementioned methods are implemented on arm7 system containing a simple constructure but a constrained storage, so optimation is significantly essential. A simulation by MATLAB is also presented which illustrates the perfect performance by using extended kalman filter..

Keywords:Navigation; Extended kalman filter; optimation

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