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
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;
Conference_Titel :
Information Fusion (FUSION), 2013 16th International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-605-86311-1-3
