A study of Decoupling Kalman filter with Grid search Bias error estimator

Abstract

In Kalman filter which estimates range and angle bias error, there are two problems. One problem is increasing an estimation error of bias error vector in mis-setting initial value of bias error vector. The other is increasing an estimation error of range bias error vector which is affected by angle random errors and coupling of range and angles. To solve above problems, we propose a Decoupling Kalman filter with Grid search Bias error Estimator.