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A low cost vehicle GPS aided inertial navigation system

2020-12-07 13:45:06 ai52learn

This article is about the Royal Swedish Institute of technology ( author :ISAAC SKOG) Master's thesis , common 49 page .

 

This paper introduces a kind of GPS And inertial navigation system (INS) The integration method of . The continuous time navigation and error equations of the earth centered earth fixed inertial navigation system are derived . Using zero order hold sampling , Discretize the equations . It is deduced that GPS And INS Closed loop integral extended Kalman filter . The filter propagates and estimates the error state , The error state is fed back to INS for internal navigation state correction . The algorithm is implemented on the upper computer , The host computer receives from the customized hardware platform through the serial port GPS And inertial measurements , It is also discussed briefly . Finally, the simulation results of the system are given .

 

In this report an approach for integration between GPS and inertial navigation systems (INS) is described. The continuous-time navigation and error equations for an earth-centered earth-fixed INS system are derived. Using zero order hold sampling, the set of equations is discretized. An extended Kalman filter for closed loop integration between the GPS and INS is derived. The filter propagates and estimates the error states, which are fed back to the INS for correction of the internal navigation states. The integration algorithm is implemented on a host PC, which receives the GPS and inertial measurements via the serial port from a tailor made hardware platform, which is briefly discussed. Simulation results of the system are presented.

 

1.   introduction

2.   Coordinate system

3.   Inertial navigation equation

4.   discretization

5.  GPS And INS Integration of

6.   Hardware

7.   Simulation results

8.   Conclusion and Prospect

appendix A Kalman filter

 

Complete data collection

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