Evaluation of Matrix Square Root Operations for UKF within a UAV GPSINS Sensor Fusion Application
Joint Authors
Gross, Jason
Rhudy, Matthew B.
Napolitano, Marcello R.
Gu, Yu
Source
International Journal of Navigation and Observation
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-01-04
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
Using an Unscented Kalman Filter (UKF) as the nonlinear estimator within a Global Positioning System/Inertial Navigation System (GPS/INS) sensor fusion algorithm for attitude estimation, various methods of calculating the matrix square root were discussed and compared.
Specifically, the diagonalization method, Schur method, Cholesky method, and five different iterative methods were compared.
Additionally, a different method of handling the matrix square root requirement, the square-root UKF (SR-UKF), was evaluated.
The different matrix square root calculations were compared based on computational requirements and the sensor fusion attitude estimation performance, which was evaluated using flight data from an Unmanned Aerial Vehicle (UAV).
The roll and pitch angle estimates were compared with independently measured values from a high quality mechanical vertical gyroscope.
This manuscript represents the first comprehensive analysis of the matrix square root calculations in the context of UKF.
From this analysis, it was determined that the best overall matrix square root calculation for UKF applications in terms of performance and execution time is the Cholesky method.
American Psychological Association (APA)
Rhudy, Matthew B.& Gu, Yu& Gross, Jason& Napolitano, Marcello R.. 2012. Evaluation of Matrix Square Root Operations for UKF within a UAV GPSINS Sensor Fusion Application. International Journal of Navigation and Observation،Vol. 2011, no. 2011, pp.1-11.
https://search.emarefa.net/detail/BIM-470479
Modern Language Association (MLA)
Rhudy, Matthew B.…[et al.]. Evaluation of Matrix Square Root Operations for UKF within a UAV GPSINS Sensor Fusion Application. International Journal of Navigation and Observation No. 2011 (2011), pp.1-11.
https://search.emarefa.net/detail/BIM-470479
American Medical Association (AMA)
Rhudy, Matthew B.& Gu, Yu& Gross, Jason& Napolitano, Marcello R.. Evaluation of Matrix Square Root Operations for UKF within a UAV GPSINS Sensor Fusion Application. International Journal of Navigation and Observation. 2012. Vol. 2011, no. 2011, pp.1-11.
https://search.emarefa.net/detail/BIM-470479
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-470479