Adaptive Kalman filtering based navigation: an IMU/GPS integration approach
2011 (English)In: 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, 181-185 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2011. 181-185 p.
Information technology - Automatic control
Informationsteknik - Reglerteknik
Research subject Control Engineering
IdentifiersURN: urn:nbn:se:ltu:diva-34333DOI: 10.1109/ICNSC.2011.5874871ScopusID: 79959969911Local ID: 881e3448-edb6-4a20-9beb-dc8ab13465b6ISBN: 978-1-4244-9570-2 (print)OAI: oai:DiVA.org:ltu-34333DiVA: diva2:1007583
IEEE International Conference on Networking, Sensing and Control : 11/04/2011 - 13/04/2011
Godkänd; 2011; 20110407 (tgu)2016-09-302016-09-302017-01-19Bibliographically approved