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Accuracy improvement of GPS/INS navigation system using extended kalman filter

Abbasi, P ; Sharif University of Technology | 2019

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  1. Type of Document: Article
  2. DOI: 10.1109/ICCIA49288.2019.9030830
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2019
  4. Abstract:
  5. Inertial navigation is a method for determining position and orientation of a vehicle, which operates according to Newton's laws of motion. Due to continual increase of output error because of measurement noise, bias, misalignment and so on, one may need one or more additional navigation systems to improve accuracy in long-Term navigation. In this paper, the error compensation based on GPS/INS data fusion algorithm is studied. Then, by designing a DSP processor-based hardware, GPS and INS data are recorded and GPS/INS data fusion algorithm is implemented. Results indicate that the accuracy of the positioning is improved and position, velocity, and orientation errors are confined to a limited range. © 2019 IEEE
  6. Keywords:
  7. Data fusion ; Extended Kalman filter ; Inertial navigation ; Micro electro mechanical system ; Resampling ; Error compensation ; Extended Kalman filters ; Inertial navigation systems ; Accuracy Improvement ; Data fusion algorithm ; GPS/INS navigations ; Inertial navigations ; Measurement Noise ; Newton's laws of motion ; Orientation error ; Position and orientations ; Global positioning system
  8. Source: 6th International Conference on Control, Instrumentation and Automation, ICCIA 2019, 30 October 2019 through 31 October 2019 ; 2019 ; 9781728158150 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/9030830