Title :
Study on Information Fusion Algorithm in Embedded Integrated Navigation System
Author :
Wang, Jian ; Liu, Jiang ; Cai, Bo-gen
Author_Institution :
State Key Lab. of Rail Traffic Control & Safety, Beijing Jiaotong Univ., Beijing
Abstract :
An improved adaptive algorithm is proposed for GPS/INS integrated navigation system. In order to meet the requirement of precision and stability, a convergence criterion is presented for the combination of a simplified adaptive Sage-Husa filter and exponential weighting fading memory filter. The hardware structure of the embedded GPS/INS integrated navigation system and structure of information fusion algorithm are given. Simulation shows that this solution demonstrates superior performance in filtering precision and stability compared to Kalman filter, and navigation trajectory in experiment matches well with the electronic map.
Keywords :
Global Positioning System; adaptive filters; embedded systems; fading; inertial navigation; sensor fusion; Global Positioning System; adaptive Sage-Husa filter; adaptive algorithm; convergence criterion; embedded GPS/INS integrated navigation system; exponential weighting fading memory filter; inertial navigation system; information fusion algorithm; precision requirement; stability; Adaptive algorithm; Adaptive filters; Fading; Filtering; Global Positioning System; Hardware; Matched filters; Navigation; Stability criteria; Trajectory; GPS; INS; Information Fusion;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2008 International Conference on
Conference_Location :
Hunan
Print_ISBN :
978-0-7695-3357-5
DOI :
10.1109/ICICTA.2008.481
