SINS/GPS tightly integrated navigation algorithm for land vehicle applications

被引：0

作者：

He Xiaofeng ^{[1
]}

Hu Xiaoping ^{[1
]}

Wu Meiping ^{[1
]}

Qin Haili ^{[1
,2
]}

机构：

[1] Natl Univ Def Technol, Coll Mechatron Engn & Automat, Changsha 410073, Hunan, Peoples R China

[2] Equipment Management Informat Ctr, Gen Dept Equipment, Beijing 100035, Peoples R China

来源：

PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 5 | 2007年

关键词：

tight integration; GPS; SINS; motion constraints; seamless navigation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper discusses the design of SINS/GPS adaptive Kalman filtering algorithm based on motion constraints for land vehicle applications. The algorithm adopts the architecture of tight integration which can continue to work even with no more than four GPS satellites. The vehicle motion constraints enhance the observation of the integrated navigation when satellite is outage. Adaptive Kalman filter with forgetting factor improves robustness of the integrated system. Some experiments are carried out and the results show that the proposed algorithm advances the performance of SINS/GPS integrated system. It gains better position accuracy 4.86 times and better velocity accuracy 1.23 times than traditional Kalman filtering algorithm.

引用

页码：400 / +

页数：2

共 4 条

[1] ABDELHAMID W, 2006, IMPROVEMENT MEMS IMU, V10, P1
[2] The aiding of a low-cost strapdown inertial measurement unit using vehicle model constraints for land vehicle applications
Dissanayake, G
Sukkarieh, S
Nebot, E
Durrant-Whyte, H
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001, 17 (05): : 731 - 747
[3] Godha S., 2006, Performance Evaluation of Low Cost MEMS-Based IMU Integrated With GPS for Land Vehicle Navigation Application
[4] Wang J.H., 2006, Intelligent MEMS INS/GPS Integration for Land Vehicular Navigation

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