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Inertial navigation aided with GPS information
Toowoomba, AUSTRALIA September 23-September 25
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/MMVIP.1997.6253174th Annual Conference on Mechatronics ...
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E. Nebot, S. Sukkarieh, H. Durrant-Whyte, "Inertial navigation aided with GPS information," Mechatronics and Machine Vision in Practice, Annual Conference on, pp. 169, 4th Annual Conference on Mechatronics and Machine Vision in Practice (M2VIP '97), 1997.
 
 
BibTex
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@article{ 10.1109/MMVIP.1997.625317,
author = {E. Nebot and S. Sukkarieh and H. Durrant-Whyte},
title = {Inertial navigation aided with GPS information},
journal ={Mechatronics and Machine Vision in Practice, Annual Conference on},
volume = {0},
year = {1997},
isbn = {0-8186-8025-3},
pages = {169},
doi = {http://doi.ieeecomputersociety.org/10.1109/MMVIP.1997.625317},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - Mechatronics and Machine Vision in Practice, Annual Conference on
TI - Inertial navigation aided with GPS information
SN - 0-8186-8025-3
SP
EP
A1 - E. Nebot,
A1 - S. Sukkarieh,
A1 - H. Durrant-Whyte,
PY - 1997
KW - inertial navigation; dynamic alignment; differential GPS; Global Positioning System; inertial navigation; Doppler velocity; range position; error model; indirect Kalman filter; accelerometers; gyroscope
VL - 0
JA - Mechatronics and Machine Vision in Practice, Annual Conference on
ER -
 
E. Nebot, Dept. of Mech. & Mechatronic Eng., Sydney Univ., NSW, Australia
S. Sukkarieh, Dept. of Mech. & Mechatronic Eng., Sydney Univ., NSW, Australia
H. Durrant-Whyte, Dept. of Mech. & Mechatronic Eng., Sydney Univ., NSW, Australia
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.
Index Terms:
inertial navigation; dynamic alignment; differential GPS; Global Positioning System; inertial navigation; Doppler velocity; range position; error model; indirect Kalman filter; accelerometers; gyroscope
Citation:
E. Nebot, S. Sukkarieh, H. Durrant-Whyte, "Inertial navigation aided with GPS information," m2vip, pp.169, 4th Annual Conference on Mechatronics and Machine Vision in Practice (M2VIP '97), 1997
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