Estimation of errors in the integration of GPS and INS
Estimation of errors in the integrated navigation system that consists of a very low-grade inertial measurement unit (IMU) and a single antenna GPS measurement system is studied in this paper. Observability properties of the errors are investigated with a control-theoretic approach. The uncertaintie...
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| creator | Sinpyo Hong Man Hyung Lee Sun-Hong Kwon Ho-Hwan Chun |
| description | Estimation of errors in the integrated navigation system that consists of a very low-grade inertial measurement unit (IMU) and a single antenna GPS measurement system is studied in this paper. Observability properties of the errors are investigated with a control-theoretic approach. The uncertainties in attitude, gyro bias, and GPS antenna lever arm are shown to cause errors in the estimates of position, velocity, and accelerometer bias. Changes in the acceleration of vehicles improve the estimates of attitude and gyro bias. Changes in the angular velocity enhance the lever arm estimate. Both the motions of translation and constant angular velocity have no influence on the estimation of the lever arm. A car test was performed to confirm the observability analysis. |
| doi_str_mv | 10.1109/IECON.2004.1432247 |
| format | Conference Proceeding |
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Observability properties of the errors are investigated with a control-theoretic approach. The uncertainties in attitude, gyro bias, and GPS antenna lever arm are shown to cause errors in the estimates of position, velocity, and accelerometer bias. Changes in the acceleration of vehicles improve the estimates of attitude and gyro bias. Changes in the angular velocity enhance the lever arm estimate. Both the motions of translation and constant angular velocity have no influence on the estimation of the lever arm. A car test was performed to confirm the observability analysis.</description><identifier>ISBN: 9780780387300</identifier><identifier>ISBN: 0780387309</identifier><identifier>DOI: 10.1109/IECON.2004.1432247</identifier><language>eng</language><publisher>Piscataway NJ: IEEE</publisher><subject>Acceleration ; Accelerometers ; Angular velocity ; Antenna measurements ; Antennas ; Applied sciences ; Error correction ; Estimation error ; Exact sciences and technology ; Global Positioning System ; Ground, air and sea transportation, marine construction ; Measurement units ; Navigation ; Observability ; Radiocommunications ; Radiolocalization and radionavigation ; Road transportation and traffic ; Satellite telecommunications. Space telecommunications ; Telecommunications ; Telecommunications and information theory</subject><ispartof>30th Annual Conference of IEEE Industrial Electronics Society, 2004. 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IECON 2004</title><addtitle>IECON</addtitle><description>Estimation of errors in the integrated navigation system that consists of a very low-grade inertial measurement unit (IMU) and a single antenna GPS measurement system is studied in this paper. Observability properties of the errors are investigated with a control-theoretic approach. The uncertainties in attitude, gyro bias, and GPS antenna lever arm are shown to cause errors in the estimates of position, velocity, and accelerometer bias. Changes in the acceleration of vehicles improve the estimates of attitude and gyro bias. Changes in the angular velocity enhance the lever arm estimate. Both the motions of translation and constant angular velocity have no influence on the estimation of the lever arm. A car test was performed to confirm the observability analysis.</description><subject>Acceleration</subject><subject>Accelerometers</subject><subject>Angular velocity</subject><subject>Antenna measurements</subject><subject>Antennas</subject><subject>Applied sciences</subject><subject>Error correction</subject><subject>Estimation error</subject><subject>Exact sciences and technology</subject><subject>Global Positioning System</subject><subject>Ground, air and sea transportation, marine construction</subject><subject>Measurement units</subject><subject>Navigation</subject><subject>Observability</subject><subject>Radiocommunications</subject><subject>Radiolocalization and radionavigation</subject><subject>Road transportation and traffic</subject><subject>Satellite telecommunications. Space telecommunications</subject><subject>Telecommunications</subject><subject>Telecommunications and information theory</subject><isbn>9780780387300</isbn><isbn>0780387309</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2004</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFUEtLw0AYXBBBqfkDetmLx8RvX9l8RwmxFkorVM9lsw9dqUnZzcV_byCiw8AcZhiGIeSWQcUY4MOma_e7igPIiknBudQXpEDdwEzRaAFwRYqcP2GGQAUNXpO6y1P8MlMcBzoG6lMaU6ZxoNOHn2Xy7-nPXL8cqBkc3ewON-QymFP2xa-uyNtT99o-l9v9etM-bsvIhJpKBrUBF7ABRKGdYyCV1rJ3HC23yBH7Okjjeq56y5FZ5XmQXkqFphe1FStyv_SeTbbmFJIZbMzHc5o3p-8ja4ArocScu1ty0Xv_by8viB98GlAx</recordid><startdate>2004</startdate><enddate>2004</enddate><creator>Sinpyo Hong</creator><creator>Man Hyung Lee</creator><creator>Sun-Hong Kwon</creator><creator>Ho-Hwan Chun</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>IQODW</scope></search><sort><creationdate>2004</creationdate><title>Estimation of errors in the integration of GPS and INS</title><author>Sinpyo Hong ; Man Hyung Lee ; Sun-Hong Kwon ; Ho-Hwan Chun</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i135t-106a0df9809937dd1045774bd29c2c9299b6f4adb25bc291c5e2f4e4459ab36c3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2004</creationdate><topic>Acceleration</topic><topic>Accelerometers</topic><topic>Angular velocity</topic><topic>Antenna measurements</topic><topic>Antennas</topic><topic>Applied sciences</topic><topic>Error correction</topic><topic>Estimation error</topic><topic>Exact sciences and technology</topic><topic>Global Positioning System</topic><topic>Ground, air and sea transportation, marine construction</topic><topic>Measurement units</topic><topic>Navigation</topic><topic>Observability</topic><topic>Radiocommunications</topic><topic>Radiolocalization and radionavigation</topic><topic>Road transportation and traffic</topic><topic>Satellite telecommunications. Space telecommunications</topic><topic>Telecommunications</topic><topic>Telecommunications and information theory</topic><toplevel>online_resources</toplevel><creatorcontrib>Sinpyo Hong</creatorcontrib><creatorcontrib>Man Hyung Lee</creatorcontrib><creatorcontrib>Sun-Hong Kwon</creatorcontrib><creatorcontrib>Ho-Hwan Chun</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Pascal-Francis</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Sinpyo Hong</au><au>Man Hyung Lee</au><au>Sun-Hong Kwon</au><au>Ho-Hwan Chun</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Estimation of errors in the integration of GPS and INS</atitle><btitle>30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004</btitle><stitle>IECON</stitle><date>2004</date><risdate>2004</risdate><volume>3</volume><spage>2774</spage><epage>2779 Vol. 3</epage><pages>2774-2779 Vol. 3</pages><isbn>9780780387300</isbn><isbn>0780387309</isbn><abstract>Estimation of errors in the integrated navigation system that consists of a very low-grade inertial measurement unit (IMU) and a single antenna GPS measurement system is studied in this paper. Observability properties of the errors are investigated with a control-theoretic approach. The uncertainties in attitude, gyro bias, and GPS antenna lever arm are shown to cause errors in the estimates of position, velocity, and accelerometer bias. Changes in the acceleration of vehicles improve the estimates of attitude and gyro bias. Changes in the angular velocity enhance the lever arm estimate. Both the motions of translation and constant angular velocity have no influence on the estimation of the lever arm. A car test was performed to confirm the observability analysis.</abstract><cop>Piscataway NJ</cop><pub>IEEE</pub><doi>10.1109/IECON.2004.1432247</doi></addata></record> |
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| ispartof | 30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004, 2004, Vol.3, p.2774-2779 Vol. 3 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Acceleration Accelerometers Angular velocity Antenna measurements Antennas Applied sciences Error correction Estimation error Exact sciences and technology Global Positioning System Ground, air and sea transportation, marine construction Measurement units Navigation Observability Radiocommunications Radiolocalization and radionavigation Road transportation and traffic Satellite telecommunications. Space telecommunications Telecommunications Telecommunications and information theory |
| title | Estimation of errors in the integration of GPS and INS |
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