Inertial navigation system calibration using GPS based on extended Kalman filter
| Autor: | Pouya Abbasi, Elahe Rezaifard |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Engineering
business.industry GPS/INS Navigation system 020207 software engineering 02 engineering and technology Kalman filter Sensor fusion Invariant extended Kalman filter Computer Science::Robotics Extended Kalman filter Control theory 0202 electrical engineering electronic engineering information engineering Global Positioning System Computer vision Artificial intelligence business Inertial navigation system |
| Zdroj: | 2017 Iranian Conference on Electrical Engineering (ICEE). |
| DOI: | 10.1109/iraniancee.2017.7985144 |
| Popis: | Inertial navigation is a Newton rule-based method of determining the position and status of a moving object. For some reasons, this system is liable for increasing accuracy error. So in order to achieve higher accuracy, especially in long-term navigations, auxiliary systems are required. In this paper, error analysis and correction using integration of INS data with observations from velocity data of auxiliary navigation system (GPS), has been studied. Also integration of INS and GPS based on extended Kalman filter is simulated. Simulations for 1000 seconds of a moving object profile shows that fusion can correct INS modeling error and prevent diversions. Also, validation of Kalman filter estimation is proposed. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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