DocumentCode
1808841
Title
Development of a deeply-coupled GPS/INS integration algorithm using quaternions
Author
Yuhong Yang ; Junchuan Zhou ; Nies, Holger ; Loffeld, Otmar ; Knedlik, Stefan
Author_Institution
Center for Sensor Syst. (ZESS), Univ. of Siegen, Siegen, Germany
fYear
2013
fDate
9-12 July 2013
Firstpage
1791
Lastpage
1796
Abstract
A deeply-coupled Global Positioning System (GPS)/ Inertial Navigation System (INS) integration algorithm is proposed in this paper. The mathematical system process and observation models are provided. Due to the nonlinearity of the system models, an Extended Kalman Filter (EKF) is employed, which uses quaternions as the representation of attitude. The integrated algorithm is tested using the IFEN GPS radio frequency (RF) signal simulator. Both static and dynamic scenarios are simulated. Numerical results are compared and analyzed.
Keywords
Global Positioning System; Kalman filters; computerised instrumentation; inertial navigation; EKF; IFEN GPS radio frequency signal simulator; RF; deeply-coupled GPS-INS integration algorithm; extended Kalman filter; global positioning system; inertial navigation system; quaternions; Clocks; Global Positioning System; Kalman filters; Quaternions; Receivers; Tracking loops; Deeply-coupled; GPS/INS; Quaternions;
fLanguage
English
Publisher
ieee
Conference_Titel
Information Fusion (FUSION), 2013 16th International Conference on
Conference_Location
Istanbul
Print_ISBN
978-605-86311-1-3
Type
conf
Filename
6641220
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