Title :
Inertial navigation aided with GPS information
Author :
Nebot, Eduardo ; Sukkarieh, Salah ; Durrant-Whyte, H.
Author_Institution :
Dept. of Mech. & Mechatronic Eng., Sydney Univ., NSW
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;
Conference_Titel :
Mechatronics and Machine Vision in Practice, 1997. Proceedings., Fourth Annual Conference on
Conference_Location :
Toowoomba, Qld.
Print_ISBN :
0-8186-8025-3
DOI :
10.1109/MMVIP.1997.625317
