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Full-state software GNSS and reduced MEMS IMU measurement processing for urban navigation
University of Colorado, Boulder.
University of Colorado, Boulder.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
2009 (English)In: Proceedings fo the 22nd international technical meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2009: Sept. 22 - 25, 2009, Savanna Convention Center, Savannah, Georgia, Manassas, Va: Institute of Navigation, The , 2009, p. 2901-2909Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents an integration of partial-IMU measurements into the codebase of an existing software GNSS receiver for land vehicle navigation. Full-state filtering was implemented in contrast to the traditional error-state filtering approach. The Kalman filter time update was performed with IMU acceleration and rotation measurements while the measurement update was performed with GNSS pseudorange and Doppler measurements. Inertial component biases were estimated while the vehicle velocity was below 1.2 m/s for at least 5 seconds. A truth reference system composed of a hardware GPS receiver and tactical-grade IMU provided a truth trajectory for experimental comparison. The results from a drive test in downtown Denver, CO showed a solution availability increase from 95% to 100% with the addition of partial-IMU to the software receiver. Horizontal positioning and heading angle 50th percentile errors also showed a corresponding decrease (8.4 m to 4.2 m and 5.3° to 1.7°, respectively).

Place, publisher, year, edition, pages
Manassas, Va: Institute of Navigation, The , 2009. p. 2901-2909
National Category
Signal Processing
Research subject
Signal Processing
Identifiers
URN: urn:nbn:se:ltu:diva-31356Local ID: 583f2600-6a47-11df-ab16-000ea68e967bOAI: oai:DiVA.org:ltu-31356DiVA, id: diva2:1004590
Conference
International technical meeting of the Satellite Division of the Institute of Navigation : 22/09/2009 - 25/09/2009
Note

Godkänd; 2009; Bibliografisk uppgift: 1 DVD-ROM; 20100528 (andbra)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-02-27Bibliographically approved

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf