The application of GPS/SINS integration based on Kalman filter

Author

Qingbo, Geng ; Nan, Li ; Baokui, Li

Author_Institution

Sch. of Autom., Beijing Inst. of Technol., Beijing, China

fYear

2012

fDate

25-27 July 2012

Firstpage

4607

Lastpage

4610

Abstract

The integration system of Global Positioning System (GPS) and strap-down inertial navigation system (SINS) has been widely applied for unmanned aerial vehicle (UAV) because of their complementary characteristics. In order to lower the price and reduce the volume, SINS is usually designed based on low-accuracy inertial measurement unit (IMU). Because low-accuracy sensors lead to severe drift of the math platform, GPS measurement information need to correct output values of IMU to meet accuracy requirement. Besides, the main advantage of integration system is the availability of reliable navigation information during the intervals of GPS or SINS missing data. The simulations are carried on by the data acquired from the actual flight test. The performances of integrated navigation system are also verified by UAV actual flight experiments.

Keywords

Global Positioning System; Kalman filters; autonomous aerial vehicles; inertial navigation; units (measurement); GPS measurement information; GPS-SINS integration; Global Positioning System; IMU; Kalman filter; UAV; flight test; low-accuracy inertial measurement unit; strap-down inertial navigation system; unmanned aerial vehicle; Equations; Global Positioning System; Kalman filters; Mathematical model; Quaternions; Silicon compounds; GPS; Kalman Filter; SINS;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6390736