Performance Improvement of Azimuth Estimation in Low Cost MEMS IMU based INS/GPS Integrated Navigation System

Autor:	Sebum Chun, Moon-Beom Heo
Rok vydání:	2012
Předmět:	Engineering business.industry GPS/INS Kalman filter Simultaneous localization and mapping Sensor fusion Invariant extended Kalman filter Computer Science::Robotics Extended Kalman filter Control theory Filter (video) Fast Kalman filter business Computer Science::Databases
Zdroj:	The Journal of Korea Navigation Institute. 16:738-743
ISSN:	1226-9026
Popis:	Kalman filter is generally used in INS/GPS integrated navigation filter. However, the INS with low performance inertia sensor can not find accurate azimuth in initial alignment stage because sensor noise level is too large compare to Earth rotation rate, therefore the performance and stability of Kalman filter can not be guaranteed. In this paper, the extended Kalman filter and particle filter combined filter structure which can be overcome large initial azimuth error is proposed.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::7d473c7283635a0c9b0f0fbe8215e801 https://doi.org/10.12673/jkoni.2012.16.5.738 Zobrazit plný text záznamu