DocumentCode :
2395982
Title :
Study on adaptive GPS/INS integrated navigation system
Author :
Bin, Wang ; Jian, Wang ; Jianping, Wu ; Baigen, Cai
Author_Institution :
Sch. of Electron. & Inf. Eng., Northern Jiaotong Univ., Beijing, China
Volume :
2
fYear :
2003
fDate :
12-15 Oct. 2003
Firstpage :
1016
Abstract :
A GPS/INS integrated navigation system based on the theory of multi-sensor data fusion is presented in this paper. Error models for the inertial measurement unit are generated and included in the extended Kalman filter for INS. An improved decentralized Kalman filter is developed to eliminate obvious error of GPS data and reduce the load of calculation. An adaptive federal Kalman filter is used to fuse the data from GPS and INS to provide smoothed and continuous positioning data against the presence of GPS blockages or communication dropouts and the unbounded INS errors growing with time. The results demonstrate that the performance of the adaptive GPS/INS integrated navigation system is better than that of using only GPS of INS.
Keywords :
Global Positioning System; Kalman filters; adaptive filters; adaptive signal processing; inertial navigation; sensor fusion; GPS/INS integrated navigation system; adaptive federal Kalman filter; decentralized Kalman filter; inertial measurement unit; multisensor data fusion; Accelerometers; Filtering; Global Positioning System; Kalman filters; Measurement units; Satellite navigation systems; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Wiener filter;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Transportation Systems, 2003. Proceedings. 2003 IEEE
Print_ISBN :
0-7803-8125-4
Type :
conf
DOI :
10.1109/ITSC.2003.1252639
Filename :
1252639
Link To Document :
بازگشت