Application of Adaptive Kalman Filtering Algorithms for Smoothing Attitude Solutions with GPS Source Variability - (PPT)

摘要

MMKF and MMAKF can lead to improvements in AhrsKF attitude. MMAKF can be used to RELIABLY utilize two information sources (GL1DE and GPS/RTK) at the same time. Note that GL1DE can be relied for not more than 20m. Needs to be tested with more data (which we have heaps!). Resetting the weights in MMAKF may be useful. The counterpart to this approach is a single KF that accommodates both measurements. Makes use of a sort of weighted adjustment of the input to KF.