借助GPS信息的惯性导航

Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI:10.1109/MMVIP.1997.625317

E. Nebot, S. Sukkarieh, H. Durrant-Whyte

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引用次数: 35

摘要

提出了一种六自由度惯性单元的动态对准算法。外部传感器采用差分GPS。它提供去相关的距离位置和多普勒速度信息。给出了一种局部有效的简化误差模型。采用间接卡尔曼滤波方法将高频惯性信息与低频GPS数据融合。实验结果表明，该滤波器既能预测高频机动，又能检测GPS信息中的多径误差。

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Inertial navigation aided with GPS information

This paper presents a dynamic alignment algorithm for a six-degree of freedom inertial unit. A differential GPS is used as external sensor. It provides decorrelated range position and Doppler velocity information. A simplified error model valid for a local area is also presented. An indirect Kalman filter approach is used to fuse high frequency inertial information with low frequency GPS data. Experimental results are presented showing that the filter is able to predict high frequency manoeuvres as well as detect multipath errors in the GPS information.

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Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice

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