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Adaptive Kalman filtering based navigation: an IMU/GPS integration approach
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0002-0079-9049
Department of Electrical and Computer Engineering, Islamic Azad University.
2011 (Engelska)Ingår i: Proceedings of the 8th IEEE International Conference on Networking, Sensing and Control: Delft, The Netherlands, 11-13 April, 2011, Piscataway, NJ: IEEE Communications Society, 2011, s. 181-185Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper investigates on the development and implementation of a high integrity navigation system based on the combined use of the Global Positioning System (GPS) and an inertial measurement unit (IMU) for land vehicle applications. The complementary properties of the GPS and the INS have motivated several works dealing with their fusion by using a Kalman Filter. The conventional kalman filter has a fix error covariance matrix in all times of processing. Multi-sensor based navigation system that is implemented in this paper is called data synchronization. Also, multi-rate operations that are compared with conventional Kalman filtering has fix error covariance matrix. Therefore, when GPS outage occurred we have improper treat by kalman filter. In this paper we present an Adaptive method instead of conventional methods. It is shown that proposed method has a better performance rather than conventional method. Experimental results show the effectiveness of the GPS/INS integrated system.

Ort, förlag, år, upplaga, sidor
Piscataway, NJ: IEEE Communications Society, 2011. s. 181-185
Nyckelord [en]
Information technology - Automatic control
Nyckelord [sv]
Informationsteknik - Reglerteknik
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-34333DOI: 10.1109/ICNSC.2011.5874871Scopus ID: 79959969911Lokalt ID: 881e3448-edb6-4a20-9beb-dc8ab13465b6ISBN: 978-1-4244-9570-2 (tryckt)OAI: oai:DiVA.org:ltu-34333DiVA, id: diva2:1007583
Konferens
IEEE International Conference on Networking, Sensing and Control : 11/04/2011 - 13/04/2011
Anmärkning
Godkänd; 2011; 20110407 (tgu)Tillgänglig från: 2016-09-30 Skapad: 2016-09-30 Senast uppdaterad: 2017-11-25Bibliografiskt granskad

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Fakharian, AhmadGustafsson, Thomas

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