Realization of Low-Cost IMU/GPS Integrated Navigation System

Author

Yu, Min ; Guo, Hang ; Gao, Weiguang

Author_Institution

Jiangxi Normal Univ., Nanchang

fYear

2006

fDate

Nov. 2006

Firstpage

189

Lastpage

195

Abstract

The paper focuses on the IMU (inertial measurement unit)/GPS (Global Position System) integrated navigation system data processing methods. Firstly, the EMU error equations in the Earth fixed coordinates are introduced. Then, a fading Kalman filter is simply introduced and its shortcomings are analyzed. Further, an adaptive filter is applied in low-cost IMU/GPS integrated navigation system, in which the adaptive factor is constructed based on the predicted residuals. Finally, a practical example is given. The results have shown that the adaptive filter is valid and reliable when applied in IMU/GPS integrated navigation system

Keywords

Global Positioning System; adaptive Kalman filters; inertial navigation; inertial systems; EMU error equations; Earth fixed coordinates; Global Position System; IMU/GPS integrated navigation system; adaptive filter; fading Kalman filter; inertial measurement unit; Adaptive filters; Data processing; Earth; Equations; Fading; Global Positioning System; Information filtering; Information filters; Navigation; Robustness; Adaptive filter; Earth fixed coordinates; Fading filter; IMU/GPS;

fLanguage

English

Publisher

ieee

Conference_Titel

Frontier of Computer Science and Technology, 2006. FCST '06. Japan-China Joint Workshop on

Conference_Location

Fukushima

Print_ISBN

0-7695-2721-3

Type

conf

DOI

10.1109/FCST.2006.27

Filename

4020988