DocumentCode :
1642217
Title :
Improving INS/GPS Navigation Accuracy through Compensation of Kalman Filter Errors
Author :
Goodall, C. ; Syed, Z. ; El-Sheimy, N.
Author_Institution :
Dept. of Geomatics Eng., Univ. of Calgary, Calgary, AB
fYear :
2006
Firstpage :
1
Lastpage :
5
Abstract :
The Kalman filter is often used to integrate satellite navigation systems with inertial navigation systems. Such integrated systems are especially useful for navigation of vehicles in urban environments where satellite signals are frequently blocked by tall buildings. The filter weights the measurements of both navigation systems to provide an overall optimal solution. Unfortunately, an optimal solution is only achieved when the filter has been supplied with ideal a priori information such as proper measurement noise characteristics and system dynamics. If such parameters are not perfect they can be detected and compensated for using an intelligent navigation scheme which is adaptable to different sensors. As dynamics are encountered, satellite signal blockages are simulated to test the optimality of the filter. A neural network is then trained to learn any residual deterministic errors which are then removed from future system drifts during signal blockages.
Keywords :
Global Positioning System; Kalman filters; error compensation; inertial navigation; neural nets; INS/GPS navigation accuracy; Kalman filter error compensation; inertial navigation systems; intelligent navigation scheme; neural network training; residual deterministic errors; satellite navigation systems; satellite signal blockages; signal blockages; tall buildings; urban environments; vehicles navigation; Global Positioning System; Inertial navigation; Information filtering; Information filters; Intelligent sensors; Noise measurement; Satellite navigation systems; Vehicle dynamics; Vehicles; Weight measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Vehicular Technology Conference, 2006. VTC-2006 Fall. 2006 IEEE 64th
Conference_Location :
Montreal, Que.
Print_ISBN :
1-4244-0062-7
Electronic_ISBN :
1-4244-0063-5
Type :
conf
DOI :
10.1109/VTCF.2006.578
Filename :
4109843
Link To Document :
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