GPS/SINS integrated navigation algorithm aided by scene matching

Hang Shi; Liping Yan; Baosheng Liu; Jihong Zhu

GPS/SINS integrated navigation algorithm aided by scene matching

Hang Shi^*, Liping Yan, Baosheng Liu, Jihong Zhu

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

To improve the precision and the reliability of navigation system, when measurements from global positioning system (GPS), strap-down inertial navigation system (SINS) and scene matching (SM) sensor are obtained with different sampling rates, by establishing system models, and by use of Kalman filter and distributed filtering with feedback, an effective scene matching aided GPS/SINS integrated navigation algorithm, i.e., GPS/SINS/SM integrated navigation algorithm, is presented. Theoretical analyses and simulation results show that the GPS/SINS/SM integrated estimate is better than the GPS/SINS or GPS/SM integrated estimate, which are both better than the Kalman filter results.

Original language	English
Pages (from-to)	1182-1185+1189
Journal	Qinghua Daxue Xuebao/Journal of Tsinghua University
Volume	48
Issue number	7
Publication status	Published - Jul 2008
Externally published	Yes

Keywords

Integrated navigation
Linear filtering
Multirate
State estimation

Cite this

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title = "GPS/SINS integrated navigation algorithm aided by scene matching",

abstract = "To improve the precision and the reliability of navigation system, when measurements from global positioning system (GPS), strap-down inertial navigation system (SINS) and scene matching (SM) sensor are obtained with different sampling rates, by establishing system models, and by use of Kalman filter and distributed filtering with feedback, an effective scene matching aided GPS/SINS integrated navigation algorithm, i.e., GPS/SINS/SM integrated navigation algorithm, is presented. Theoretical analyses and simulation results show that the GPS/SINS/SM integrated estimate is better than the GPS/SINS or GPS/SM integrated estimate, which are both better than the Kalman filter results.",

keywords = "Integrated navigation, Linear filtering, Multirate, State estimation",

author = "Hang Shi and Liping Yan and Baosheng Liu and Jihong Zhu",

year = "2008",

month = jul,

language = "English",

volume = "48",

pages = "1182--1185+1189",

journal = "Qinghua Daxue Xuebao/Journal of Tsinghua University",

issn = "1000-0054",

publisher = "Tsinghua University Press",

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TY - JOUR

T1 - GPS/SINS integrated navigation algorithm aided by scene matching

AU - Shi, Hang

AU - Yan, Liping

AU - Liu, Baosheng

AU - Zhu, Jihong

PY - 2008/7

Y1 - 2008/7

N2 - To improve the precision and the reliability of navigation system, when measurements from global positioning system (GPS), strap-down inertial navigation system (SINS) and scene matching (SM) sensor are obtained with different sampling rates, by establishing system models, and by use of Kalman filter and distributed filtering with feedback, an effective scene matching aided GPS/SINS integrated navigation algorithm, i.e., GPS/SINS/SM integrated navigation algorithm, is presented. Theoretical analyses and simulation results show that the GPS/SINS/SM integrated estimate is better than the GPS/SINS or GPS/SM integrated estimate, which are both better than the Kalman filter results.

AB - To improve the precision and the reliability of navigation system, when measurements from global positioning system (GPS), strap-down inertial navigation system (SINS) and scene matching (SM) sensor are obtained with different sampling rates, by establishing system models, and by use of Kalman filter and distributed filtering with feedback, an effective scene matching aided GPS/SINS integrated navigation algorithm, i.e., GPS/SINS/SM integrated navigation algorithm, is presented. Theoretical analyses and simulation results show that the GPS/SINS/SM integrated estimate is better than the GPS/SINS or GPS/SM integrated estimate, which are both better than the Kalman filter results.

KW - Integrated navigation

KW - Linear filtering

KW - Multirate

KW - State estimation

UR - http://www.scopus.com/inward/record.url?scp=48049116393&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:48049116393

SN - 1000-0054

VL - 48

SP - 1182-1185+1189

JO - Qinghua Daxue Xuebao/Journal of Tsinghua University

JF - Qinghua Daxue Xuebao/Journal of Tsinghua University

IS - 7

ER -

GPS/SINS integrated navigation algorithm aided by scene matching

Abstract

Keywords

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