Data Fusion with two Nonlinear Constraints on Kalman Filtering

被引：0

作者：

Gao, Wei ^{[1
]}

Li, Jiaxuan ^{[1
]}

Yu, Fei ^{[1
]}

Zhou, Guangtao ^{[1
]}

Yu, Chunyang ^{[1
]}

Lin, Mengmeng ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Automat, Harbin, Peoples R China

来源：

2014 IEEE/ION POSITION, LOCATION AND NAVIGATION SYMPOSIUM - PLANS 2014 | 2014年

关键词：

pedestrian navigation; integrated scenario; two constraints; Kalman filtering;

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：

In this paper we investigate an integrated pedestrian navigation scenario to fuse data from three systems whose relative locations are known previously. In this excogitation a pedestrian is equipped with a GNSS (Global Navigation Satellite System) receiver on the shoulder and two MEMS (Micro Electro Mechanical Systems)-based IMU on the tiptoe and heel of a shoe. Due to the physical space description of the three systems two constraints can be obtained. One is based on the fixed distance between two inertial systems and the other is with reference to the approximately range between GNSS and one of the two IMUs. The suggested information fusion method is expected to make use of Kalman Filtering with state constraint.

引用

页码：524 / 528

页数：5

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