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Adaptive GPS/INS integration for relative navigation / Je Young Lee in GPS solutions, vol 20 n° 1 (January 2016)  

Public [article]  inGPS solutions > vol 20 n° 1 (January 2016) . - pp 63 - 75 Titre : Adaptive GPS/INS integration for relative navigation Type de document : Article/Communication Auteurs : Je Young Lee, Auteur ; Hee Sung Kim, Auteur ; Kwang Ho Choi, Auteur ; et al., Auteur Année de publication : 2016 Article en page(s) : pp 63 - 75 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] covariance [Termes IGN] filtre de Kalman [Termes IGN] GPS-INS [Termes IGN] intégration de données [Termes IGN] navigation Résumé : (Auteur) Relative navigation based on GPS receivers and inertial measurement units is required in many applications including formation flying, collision avoidance, cooperative positioning, and accident monitoring. Since sensors are mounted on different vehicles which are moving independently, sensor errors are more variable in relative navigation than in single-vehicle navigation due to different vehicle dynamics and signal environments. In order to improve the robustness against sensor error variability in relative navigation, we present an efficient adaptive GPS/INS integration method. In the proposed method, the covariances of GPS and inertial measurements are estimated separately by the innovations of two fundamentally different filters. One is the position-domain carrier-smoothed-code filter and the other is the velocity-aided Kalman filter. By the proposed two-filter adaptive estimation method, the covariance estimation of the two sensors can be isolated effectively since each filter estimates its own measurement noise. Simulation and experimental results demonstrate that the proposed method improves relative navigation accuracy by appropriate noise covariance estimation. Numéro de notice : A2016-603 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-015-0446-4 En ligne : http://dx.doi.org/10.1007/s10291-015-0446-4 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=81801 [article]