Abstract
Commercial navigation systems currently in use have reduced position and heading error but are usually quite expensive. It is proposed that extended Kalman filter (EKF) and Unscented Kalman Filter (UKF) be used in the integration of a global positioning system (GPS) with an inertial navigation system (INS). GPS and INS individually exhibit large errors but they do complement each other by maximizing the advantage of each in calculating the heading angle and position through EKF and UKF. The proposed method was tested using low cost GPS, a cheap electronic compass (EC), and an inertial management unit (IMU) which provided accurate heading and position information, verifying the efficacy of the proposed algorithm.
Highlights
Computation of accurate heading and position data is a key task in a navigation system
It can be seen that the global positioning system (GPS) and inertial navigation system (INS) do complement each other leading to various research works on integrated INS/GPS navigation systems for the past two decades
Weighted regression and smoothing scatterplot were previously utilized in deriving a more accurate heading angle using GPS data but it was limited for postprocessing only [20,21,22,23]. These works were expanded by further integrating electronic compass (EC) with INS gyroscopic data for more accurate heading while the position information was determined by integrating GPS with ISN accelerometer data through extended Kalman filter (EKF) and Unscented Kalman Filter (UKF)
Summary
Computation of accurate heading and position data is a key task in a navigation system. An inertial navigation system (INS) provides more accurate heading information than the GPS, but its position data is less reliable than that of the GPS. Weighted regression and smoothing scatterplot were previously utilized in deriving a more accurate heading angle using GPS data but it was limited for postprocessing only [20,21,22,23]. These works were expanded by further integrating EC with INS gyroscopic data for more accurate heading while the position information was determined by integrating GPS with ISN accelerometer data through EKF and UKF.
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
