Iranian Journal of Mechanical Engineering Transactions of ISME

Iranian Journal of Mechanical Engineering Transactions of ISME

GPS based positioning of Satellite using cubature Kalman filter

Authors
1 University of Tehran
2 Faculty member
3 Sharif Technical University
Abstract
Due to the nonlinearity of the equations governing the satellite estimation system, linear filters are not able to estimate the precise position, and then satellite tracking is associated with several errors. In this paper, satellite motion equations are investigated then, using GPS observations, Extended Kalman filter (EKF) and Cubature Kalman filter (CKF) the satellite’s position and velocity are determined. Cubature Kalman filter is an algorithm suitable for estimating noisy high dimension nonlinear systems, which is based on the Gaussian and Kalman filter. Simulation results and RMS of the positioning errors confirm that the Cubature Kalman filter has improved accuracy and performance compared to the Extended Kalman filter. Cubature Kalman filter shows 50 percent improvement in velocity estimation in y and z directions compared to EKF. Although, relative error improvement percentage for position is less than velocity and both filters have almost similar performance. However, CKF is slightly superior and has had 10 percent, 3 and 1.5 percent improvement in relative errors of x, y and z directions, respectively.
Keywords

Subjects


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  • Receive Date 18 November 2018
  • Revise Date 08 June 2019
  • Accept Date 24 October 2020