A GPS-aided Inertial Navigation System in Direct Configuration
This work presents a practical method fo r estimating the full kinema tic state of a vehicle, along with sensor error parameters, through the integration of inertial and GPS measurements. This ki nd of system for determining attitude and position of vehicles and craft (either manned or unmann ed) is...
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2014 |
| País: | México |
| Institución: | Universidad de Guadalajara |
| Repositorio: | Redalyc-UDG |
| OAI Identifier: | oai:redalyc.org:47431860017 |
| Acceso en línea: | https://www.redalyc.org/articulo.oa?id=47431860017 |
| Access Level: | acceso abierto |
| Palabra clave: | Ingeniería Sensor Fusion State Estimation Inertial Navigation |
| Sumario: | This work presents a practical method fo r estimating the full kinema tic state of a vehicle, along with sensor error parameters, through the integration of inertial and GPS measurements. This ki nd of system for determining attitude and position of vehicles and craft (either manned or unmann ed) is essential for real time, guidance and navigation tasks, as well as for mobile robot applications. The architecture of the system is based in an Extended Kalman filtering approach in direct c onfiguration. In this case, the filter is explicitly derived from the ki nematic model, as well as from the mode ls of sensors error. The architecture has been designed in a manner that it permits to be easily modified, in order to be applied to vehicles with diverse dynamical behaviors. The estimated variables and parameters are: i) Attitude and bias-compensated rotational speed of the vehicle, ii) Position, velocity and bias-compensated acceleration of the vehicle and iii) bias of gyroscopes and accelerometers. Experimental results with real data show that the propos ed method is enough robust for its use along with low-cost sensors. |
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