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Title Aided INS Kalman smoothing
Author Friesel, Dina
Supervisor Poulsen, Niels Kjølstad (Mathematical Statistics, Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Larsen, Mikael Bliksted (Mathematical Statistics, Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark)
Institution Technical University of Denmark, DTU, DK-2800 Kgs. Lyngby, Denmark
Thesis level Master's thesis
Year 2009
Abstract This thesis describes the analysis of various methods in order to improve underwater navigation and positioning systems. The investigated methods are the Kalman filter and Kalman smoothing, which are fixed-interval, fixed-point and fixed-lag smoothing. Fixed-lag smoothing is shown to be numerically unstable. Fixed-interval and fixed-lag smoothing are compared to the Kalman filter for different scenarios. The effect of outliers in data is tested using different methods of detecting and handling outliers. A prototype of a post-processing tool for underwater navigation is made using Matlab GUI.
Note Thesis not publicly available
Imprint Department of Informatics and Mathematical Modeling, Technical University of Denmark, DTU : DK-2800 Kgs. Lyngby, Denmark
Series IMM-M.Sc.-2009-71
Admin Creation date: 2009-11-23    Update date: 2012-12-19    Source: dtu    ID: 252836    Original MXD