Realization of low-cost IMU/GPS integrated navigation system

被引：0
|
作者：
Yu, Min [1 ]
Guo, Hang [2 ]
Gao, Weiguang [3 ]
机构：
[1] Jiangxi Normal Univ, Nanchang 330027, Jiangxi, Peoples R China
[2] Nanchang Univ, Minist Educ, Key Lab Poyang Lake Ecol & Bioresource Utilizat, Nanchang 330029, Jiangxi, Peoples R China
[3] China Univ Informat Engn, Zhengzhou 450052, Peoples R China
来源：
FCST 2006: JAPAN-CHINA JOINT WORKSHOP ON FRONTIER OF COMPUTER SCIENCE AND TECHNOLOGY, PROCEEDINGS | 2006年
关键词：
earth fixed coordinates; IMU/GPS; fading filter; adaptive filter;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper focuses on the IMU (inertial Measurement Unit)/GPS (Global Position System) integrated navigation system data processing methods. Firstly, the IMU 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.
引用
收藏
页码：189 / +
页数：2
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