An application of uncertain variables to the implementation of an interacting multi-model based filter for the navigation system of a road vehicle

摘要

This paper presents the conclusions obtained from the parametric study of the application of the uncertain variable (UV) theory to the problem of the interactive multi-model method (IMM) in the navigation system of a road vehicle. The proposed navigation system implements an interactive multi-model method based on a loosely coupled extended Kalman filter architecture (EKF). The descriptions of the navigation system and the representation of the problem based on uncertain variables are presented in this paper. Selected simulations and their conclusions are commented. Finally, this parametric study is presented as a helpful tool for the optimization of an IMM based data fusion algorithm for navigation systems in road vehicles