Inertial navigation aided with GPS information

Author

Nebot, Eduardo ; Sukkarieh, Salah ; Durrant-Whyte, H.

Author_Institution

Dept. of Mech. & Mechatronic Eng., Sydney Univ., NSW

fYear

1997

fDate

23-25 Sep 1997

Firstpage

169

Lastpage

174

Abstract

This paper presents a dynamic alignment algorithm for a six-degree of freedom inertial unit. A differential GPS is used as external sensor. It provides decorrelated range position and Doppler velocity information. A simplified error model valid for a local area is also presented. An indirect Kalman filter approach is used to fuse high frequency inertial information with low frequency GPS data. Experimental results are presented showing that the filter is able to predict high frequency manoeuvres as well as detect multipath errors in the GPS information

Keywords

Global Positioning System; Kalman filters; accelerometers; error analysis; gyroscopes; inertial navigation; road vehicles; Doppler velocity; Global Positioning System; accelerometers; differential GPS; dynamic alignment; error model; gyroscope; indirect Kalman filter; inertial navigation; range position; Acceleration; Accelerometers; Dead reckoning; Global Positioning System; Gyroscopes; Inertial navigation; Mechatronics; Orbits; Satellite broadcasting; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on

Conference_Location

Toowoomba, Qld.

Print_ISBN

0-8186-8025-3

Type

conf

DOI

10.1109/MMVIP.1997.625317

Filename

625317