An Integrated INS/GPS Navigation System for Small AUVS Using an Asynchronous Kalman Filter

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ISBN 13 :
Total Pages : 56 pages
Book Rating : 4.:/5 (455 download)

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Book Synopsis An Integrated INS/GPS Navigation System for Small AUVS Using an Asynchronous Kalman Filter by : Glenn C. Hernandez

Download or read book An Integrated INS/GPS Navigation System for Small AUVS Using an Asynchronous Kalman Filter written by Glenn C. Hernandez and published by . This book was released on 1998 with total page 56 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Small AUV Navigation System (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated INS/GPS navigation system composed of low-cost, small-size components. It is designed to demonstrate the feasibility of using a low-cost Inertial Measurement Unit (IMU) to navigate between intermittent GPS fixes. This thesis presents recent improvements to the SANS hardware and software. The 486-based ESP computer used in the previous version of SANS is now replaced by an AMD 586DX133 based PC/104 computer to provide more computing power, reliability and compatibility with PC/104 industrial standards. The previous SANS navigation filter consisting of a complementary constant gain filter is now aided by an asynchronous Kalman filter. This navigation filter has six states for orientation estimation (constant gain) and eight states for position estimation (Kalman filtered). Low-frequency DGPS noise is explicitly modeled based on an experimentally obtained a autocorrelation function. Ocean currents are also modeled as a low-frequency random process. The asynchronous nature of GPS measurements resulting from AUV submergence or wave splash on the DGPS antennas is also taken into account by adopting an asynchronous Kalman filter as the basis for the SANS software. Matlab simulation studies of the asynchronous filter have been conducted and results documented in this thesis.

An Integrated INS/GPS Navigation System for Small AUVs Using an Asynchronous Kalman Filer

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ISBN 13 :
Total Pages : 41 pages
Book Rating : 4.:/5 (14 download)

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Book Synopsis An Integrated INS/GPS Navigation System for Small AUVs Using an Asynchronous Kalman Filer by : Glenn C. Hernandez

Download or read book An Integrated INS/GPS Navigation System for Small AUVs Using an Asynchronous Kalman Filer written by Glenn C. Hernandez and published by . This book was released on 1998 with total page 41 pages. Available in PDF, EPUB and Kindle. Book excerpt: A Small AUV Navigation System (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated INS/GPS navigation system composed of low-cost, small-size components. It is designed to demonstrate the feasibility of using a low-cost Inertial Measurement Unit (IMU) to navigate between intermittent GPS fixes. This thesis presents recent improvements to the SANS hardware and software. The 486-based ESP computer used in the previous version of SANS is now replaced by an AMD 586DX133 based PC/104 computer to provide more computing power, reliability and compatibility with PC/104 industrial standards. The previous SANS navigation filter consisting of a complementary constant gain filter is now aided by an asynchronous Kalman filter. This navigation filter has six states for orientation estimation (constant gain) and eight states for position estimation (Kalman filtered). Low- frequency DGPS noise is explicitly modeled based on an experimentally obtained autocorrelation function. Ocean currents are also modeled as a low-frequency random process. The asynchronous nature of GPS measurements resulting from AUV submergence or wave splash on the DGPS antennas is also taken into account by adopting an asynchronous Kalman filter as the basis for the SANS software. Matlab simulation studies of the asynchronous filter have been conducted and results documented in this thesis.

Asynchronous Data Fusion for AUV Navigation Using Extended Kalman Filtering

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Publisher :
ISBN 13 : 9781423571490
Total Pages : 166 pages
Book Rating : 4.5/5 (714 download)

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Book Synopsis Asynchronous Data Fusion for AUV Navigation Using Extended Kalman Filtering by : Richard L. Thorne

Download or read book Asynchronous Data Fusion for AUV Navigation Using Extended Kalman Filtering written by Richard L. Thorne and published by . This book was released on 1997-03-01 with total page 166 pages. Available in PDF, EPUB and Kindle. Book excerpt: A truly Autonomous Vehicle must be able to determine its global position in the absence of external transmitting devices. This requires the optimal integration of all available organic vehicle attitude and velocity sensors. This thesis investigates the extended Kalman filtering method to merge asynchronous heading, heading rate, velocity, and DGPS information to produce a single state vector. Different complexities of Kalman filters, with biases and currents, are investigated with data from Florida Atlantic's Ocean Explorer II surface run. This thesis used a simulated loss of DGPS data to represent the vehicle's submergence. All levels of complexity of the Kalman filters are shown to be much more accurate then the basic dead reckoning solution commonly used aboard autonomous underwater vehicles.

Integrated Navigation and Guidance Systems

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Publisher : AIAA
ISBN 13 : 9781600860713
Total Pages : 262 pages
Book Rating : 4.8/5 (67 download)

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Book Synopsis Integrated Navigation and Guidance Systems by : Daniel J. Biezad

Download or read book Integrated Navigation and Guidance Systems written by Daniel J. Biezad and published by AIAA. This book was released on 1999 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: Annotation Beginning with the basic principles of navigation, "Integrated Navigation and Guidance Systems takes a step beyond introductions with a concise look at the flight applications of inertial navigation systems integrated with Global Positioning System (GPS) satellite systems. Written at the senior engineering college level, the textbook takes a tutorial approach, weaving interrelated disciplines together with interactive computer exercises and AINSBOOK software for error analysis and Kalman filter simulation. Get a "technical jump start" with a look at traditional navigation radio aids, inertial guidance systems, and Kalman filters. Launch into GPS applications to navigation, precision approach and landing, attitude control, and air traffic control. More than 100 figures, photos, and tables add to the textbook's value.

Design and Evaluation of an Integrated, Self-Contained GPS/INS Shallow- Water AUV Navigation System (SANS)

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Publisher :
ISBN 13 : 9781423581864
Total Pages : 180 pages
Book Rating : 4.5/5 (818 download)

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Book Synopsis Design and Evaluation of an Integrated, Self-Contained GPS/INS Shallow- Water AUV Navigation System (SANS) by : Randy G. Walker

Download or read book Design and Evaluation of an Integrated, Self-Contained GPS/INS Shallow- Water AUV Navigation System (SANS) written by Randy G. Walker and published by . This book was released on 1996-06-01 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: The main problem addressed by this research is to find an alternative to the use of large and/or expensive equipment required by conventional navigation systems to accurately determine the position of an Autonomous Underwater Vehicle (AUV) during all phases of an underwater search or mapping mission. The approach taken was to advance an existing integrated navigation system prototype which combines Global Positioning System (GPS), Inertial Measurement Unit (IMU), water speed, and heading information using Kalman filtering techniques. The hardware and software architecture of the prototype system were advanced to a level such that it is completely self- contained in a relatively small, lightweight package capable of on-board processing of sensor data and outpouring updated position fixes at a rate of 10 Hz; an improvement from the 5 Hz rate delivered by the prototype. The major changes to the preceding prototype implemented by this research were to install an on-board processor to locally process sensor outputs, and improve upon the analog filter and voltage regulation circuitry. Preliminary test results indicate the newly designed SANS provides a 100% performance improvement over the previous prototype. It now delivers a 10Hz update rate, and increased accuracy due to the improved analog filter and the higher sampling rate provided by the processor.

Design and Evaluation of an Integrated GPS/INS System for Shallow-water AUV Navigation

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Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (64 download)

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Book Synopsis Design and Evaluation of an Integrated GPS/INS System for Shallow-water AUV Navigation by : Eric R. Bachmann

Download or read book Design and Evaluation of an Integrated GPS/INS System for Shallow-water AUV Navigation written by Eric R. Bachmann and published by . This book was released on 1995 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The major problem addressed by this research is the large and/or expensive equipment required by a conventional navigation system to accurately determine the position of an Autonomous Underwater Vehicle (AUV) during all phases of an underwater search or mapping mission. The approach taken was to prototype an integrated navigation system which combines Global Positioning System (OPS) and Inertial Measurement Unit (IMU), waterspeed and heading information using Kalman filtering techniques. Actual implementation was preceded by a computer simulation to test where the unit would fit into a larger hardware and software hierarchy of an AUV. The system was then evaluated in experiments which began with land based cart tests and progressed to open water trials where the unit was placed in a towed body behind a boat and alternately submerged and surfaced to provide periodic OPS updates to the Inertial Navigation System (INS). Test results and qualitative error estimates indicate that submerged navigation accuracy comparable to that of differential OPS may be attainable for periods of 30 seconds or more with low cost components of a small physical size.

Global Positioning Systems, Inertial Navigation, and Integration

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Publisher : John Wiley & Sons
ISBN 13 : 0470099712
Total Pages : 416 pages
Book Rating : 4.4/5 (7 download)

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Book Synopsis Global Positioning Systems, Inertial Navigation, and Integration by : Mohinder S. Grewal

Download or read book Global Positioning Systems, Inertial Navigation, and Integration written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2007-03-05 with total page 416 pages. Available in PDF, EPUB and Kindle. Book excerpt: An updated guide to GNSS and INS, and solutions to real-world GPS/INS problems with Kalman filtering Written by recognized authorities in the field, this second edition of a landmark work provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Navigation Satellite Systems (GNSS), Inertial Navigational Systems (INS), and Kalman filters. Throughout, the focus is on solving real-world problems, with an emphasis on the effective use of state-of-the-art integration techniques for those systems, especially the application of Kalman filtering. To that end, the authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS. Drawing upon their many years of experience with GNSS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references. This Second Edition has been updated to include: GNSS signal integrity with SBAS Mitigation of multipath, including results Ionospheric delay estimation with Kalman filters New MATLAB programs for satellite position determination using almanac and ephemeris data and ionospheric delay calculations from single and dual frequency data New algorithms for GEO with L1 /L5 frequencies and clock steering Implementation of mechanization equations in numerically stable algorithms To enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the working of the GNSS, INS, and filter algorithms. In addition to showing the Kalman filter in action, the software also demonstrates various practical aspects of finite word length arithmetic and the need for alternative algorithms to preserve result accuracy.

พระราชบัญญัติคณะสงฆ์ พุทธศักราช 2484 พร้อมด้วยคําอธิบาย

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ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (773 download)

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Book Synopsis พระราชบัญญัติคณะสงฆ์ พุทธศักราช 2484 พร้อมด้วยคําอธิบาย by :

Download or read book พระราชบัญญัติคณะสงฆ์ พุทธศักราช 2484 พร้อมด้วยคําอธิบาย written by and published by . This book was released on 1941 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Intelligent Information Processing for Inertial-Based Navigation Systems

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Author :
Publisher : Springer Nature
ISBN 13 : 9813345160
Total Pages : 131 pages
Book Rating : 4.8/5 (133 download)

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Book Synopsis Intelligent Information Processing for Inertial-Based Navigation Systems by : Chong Shen

Download or read book Intelligent Information Processing for Inertial-Based Navigation Systems written by Chong Shen and published by Springer Nature. This book was released on 2021-01-04 with total page 131 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces typical inertial devices and inertial-based integrated navigation systems, gyro noise suppression, gyro temperature drift error modeling compensation, inertial-based integrated navigation systems under discontinuous observation conditions, and inertial-based brain integrated navigation systems. Integrated navigation is the result of the development of modern navigation theory and technology. The inertial navigation system has the advantages of strong autonomy, high short-term accuracy, all-day time, all weather, and so on. And it has been applied in most integrated navigation systems. Among them, the information processing of inertial-based integrated navigation system is the core technology. Due to the effect of the device mechanism and working environment, there are errors in the output information of the inertial-based integrated navigation system, including gyroscope noise, temperature drift, and discontinuous observations, which will seriously reduce the accuracy and robustness of the system. And the book helps readers to solve these problems. The intelligent information processing technology involved is equipped with simulation verification, which can be used as a reference for undergraduate, graduate, and Ph.D. students, and also scientific researchers or engineers engaged in navigation-related specialties.

Simulation-Based Validation of Navigation Filter Software for a Shallow Water AUV Navigation System (SANS)

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Publisher :
ISBN 13 : 9781423575573
Total Pages : 145 pages
Book Rating : 4.5/5 (755 download)

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Book Synopsis Simulation-Based Validation of Navigation Filter Software for a Shallow Water AUV Navigation System (SANS) by : Ruediger Steven

Download or read book Simulation-Based Validation of Navigation Filter Software for a Shallow Water AUV Navigation System (SANS) written by Ruediger Steven and published by . This book was released on 1996-03-01 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: Navigation filter software is currently being developed for an inertial navigation system without rotating gyros. This system shall replace the navigation system that is currently used in the Phoenix Autonomous Underwater Vehicle of the Naval Postgraduate School. The filter combines acceleration sensors, angular rate sensors, a water speed sensor, a magnetic compass and a GPS system. The harmonization of the sensors is performed by gain matrices. The filter code must be tested for correctness and evaluated, and optimal values for the gain matrices must be found. Both factors directly influence the accuracy of the computed positions, and thus the quality of AUV navigation. in this thesis, the Kalman filter code is tested by experimentation with a simulation of a submarine. Two versions of the code are available, both written in LISP and C++. Test runs are performed in different simulated sea-states (water current), with and without noise added to the sensors, and with different values for the gain matrices. Based on the experiments, the Kalman filter code seems to be correct and stable. Noise is the most important determinant of the filter performance. The results can be optimized by careful fine tuning of the gain matrices.

Design and Evaluation of an Integrated GPS/INS System for Shallow-water AUV Navigation

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Publisher :
ISBN 13 :
Total Pages : 222 pages
Book Rating : 4.:/5 (64 download)

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Book Synopsis Design and Evaluation of an Integrated GPS/INS System for Shallow-water AUV Navigation by : Eric R. Bachmann

Download or read book Design and Evaluation of an Integrated GPS/INS System for Shallow-water AUV Navigation written by Eric R. Bachmann and published by . This book was released on 1995 with total page 222 pages. Available in PDF, EPUB and Kindle. Book excerpt: The major problem addressed by this research is the large and/or expensive equipment required by a conventional navigation system to accurately determine the position of an Autonomous Underwater Vehicle (AUV) during all phases of an underwater search or mapping mission. The approach taken was to prototype an integrated navigation system which combines Global Positioning System (OPS) and Inertial Measurement Unit (IMU), waterspeed and heading information using Kalman filtering techniques. Actual implementation was preceded by a computer simulation to test where the unit would fit into a larger hardware and software hierarchy of an AUV. The system was then evaluated in experiments which began with land based cart tests and progressed to open water trials where the unit was placed in a towed body behind a boat and alternately submerged and surfaced to provide periodic OPS updates to the Inertial Navigation System (INS). Test results and qualitative error estimates indicate that submerged navigation accuracy comparable to that of differential OPS may be attainable for periods of 30 seconds or more with low cost components of a small physical size.

A Tightly-Coupled INS/GPS Integration Using a MEMS IMU

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Publisher :
ISBN 13 : 9781423520627
Total Pages : 112 pages
Book Rating : 4.5/5 (26 download)

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Book Synopsis A Tightly-Coupled INS/GPS Integration Using a MEMS IMU by : Jonathan M. Neu

Download or read book A Tightly-Coupled INS/GPS Integration Using a MEMS IMU written by Jonathan M. Neu and published by . This book was released on 2004-09-01 with total page 112 pages. Available in PDF, EPUB and Kindle. Book excerpt: Micro-Electro-Mechanical Systems (MEMS) technology holds great promise for future navigation systems because of the reduced size and cost of MEMS inertial sensors relative to conventional devices. Current MEMS devices are much less accurate than standard inertial sensors, but they can still be useful. In this thesis, data was recorded from an inexpensive MEMS inertial measurement unit and integrated with GPS measurements using a tightly-coupled Kalman filter. The overall goal of this research is to investigate the usefulness of MEMS sensors for a small, real-time, low-cost INS/GPS integration. A golf cart was used to collect dynamic data, along with a commercial INS/GPS system to provide reference data. This data was then post-processed, and the filter's performance in the position, velocity, and attitude outputs were evaluated by comparing them to the reference system. The important system features of system alignment, bias feedback, and INS resets are described, and the filter's performance is analyzed using its estimate and covariance outputs and comparing them to the true error. Filter residuals are also shown and discussed. The final results show that, with adequate processing available, the INS/GPS filter using the MEMS instruments provides good position, velocity, and attitude results over a period of up to 15 minutes, as long as the data is at least somewhat dynamic. Without vehicle motion, the vehicle yaw state tends to wander excessively, due to the bias and noise of the MEMS gyroscopes. Over a long static period, the filter's position outputs would most likely diverge and become unstable. Recommendations are made to combat this problem, among them to conduct more characterization of the MEMS sensors, and to add GPS velocity measurements as an input to the filter.

Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration

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Publisher : Springer Science & Business Media
ISBN 13 : 3642304664
Total Pages : 324 pages
Book Rating : 4.6/5 (423 download)

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Book Synopsis Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration by : Aboelmagd Noureldin

Download or read book Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration written by Aboelmagd Noureldin and published by Springer Science & Business Media. This book was released on 2012-10-26 with total page 324 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration is an introduction to the field of Integrated Navigation Systems. It serves as an excellent reference for working engineers as well as textbook for beginners and students new to the area. The book is easy to read and understand with minimum background knowledge. The authors explain the derivations in great detail. The intermediate steps are thoroughly explained so that a beginner can easily follow the material. The book shows a step-by-step implementation of navigation algorithms and provides all the necessary details. It provides detailed illustrations for an easy comprehension. The book also demonstrates real field experiments and in-vehicle road test results with professional discussions and analysis. This work is unique in discussing the different INS/GPS integration schemes in an easy to understand and straightforward way. Those schemes include loosely vs tightly coupled, open loop vs closed loop, and many more.

Integration of Differential GPS and Inertial Navigation Using a Complementary Kalman Filter

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Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (64 download)

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Book Synopsis Integration of Differential GPS and Inertial Navigation Using a Complementary Kalman Filter by : Carl W. Marquis

Download or read book Integration of Differential GPS and Inertial Navigation Using a Complementary Kalman Filter written by Carl W. Marquis and published by . This book was released on 1993 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Precise navigation with high update rates is essential for automatic landing of an unmanned aircraft. Individual sensors currently available - INS, AHRS, GPS, LORAN, etc. - cannot meet both requirements. The most accurate navigation sensor available today is the Global Positioning System or GPS. However, GPS updates only come once per second. INS, being an on-board sensor, is available as often as necessary. Unfortunately, it is subject to the Schuler cycle, biases, noise floor, and cross-axis sensitivity. In order to design and verify a precise, high update rate navigation system, a working model of Differential GPS has been developed including all of the major GPS error sources - clock differences, atmospherics, selective availability and receiver noise. A standard INS system was also modeled, complete with the inaccuracies mentioned. The outputs of these two sensors - inertial acceleration and pseudoranges - can be optimally blended with a complementary Kalman filter for positioning. Eventually, in the discrete case, the high update rate and high precision required for autoland can be achieved.

Kalman Filter Based Integrated Air Data/GPS Navigation System

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Publisher : LAP Lambert Academic Publishing
ISBN 13 : 9783844301755
Total Pages : 148 pages
Book Rating : 4.3/5 (17 download)

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Book Synopsis Kalman Filter Based Integrated Air Data/GPS Navigation System by : Taner Mutlu

Download or read book Kalman Filter Based Integrated Air Data/GPS Navigation System written by Taner Mutlu and published by LAP Lambert Academic Publishing. This book was released on 2012 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is focused on the improvement of the modern navigation systems. In aeronautics high precision is very essential. Global Positioning System (GPS) has revolutionized the navigation systems. In this study GPS position measurements obtained from a GPS receiver, are improved using Kalman Filter based Satellite Distances method. The GPS receiver provides us with both available satellite positions and the position of the receiver. Using this information in the Kalman Filter a better position compared to the GPS receiver alone was aimed. In the monograph the integration of two navigation systems ADS and GPS was aimed. ADS is a widely used navigation system which measures static and total air pressure and the air temperature. ADS has high sampling frequency and poor accuracy, on the other hand, GPS has high accuracy compared to ADS but lower sampling frequency. Kalman Filter is used to integrate and minimize the errors of the two navigation systems. By this integration a navigation system with high sampling frequency and high accuracy is aimed. Another object is to calculate the wind speed with high accuracy, which is actually the error of Air Speed measured by the ADS.

Asychronous [i.e. Asynchronous] Data Fusion for AUV Navigation Using Extended Kalman Filtering

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Author :
Publisher :
ISBN 13 :
Total Pages : 154 pages
Book Rating : 4.:/5 (64 download)

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Book Synopsis Asychronous [i.e. Asynchronous] Data Fusion for AUV Navigation Using Extended Kalman Filtering by : Richard L. Thorne

Download or read book Asychronous [i.e. Asynchronous] Data Fusion for AUV Navigation Using Extended Kalman Filtering written by Richard L. Thorne and published by . This book was released on 1997 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: A truly Autonomous Vehicle must be able to determine its global position in the absence of external transmitting devices. This requires the optimal integration of all available organic vehicle attitude and velocity sensors. This thesis investigates the extended Kalman filtering method to merge asynchronous heading, heading rate, velocity, and DGPS information to produce a single state vector. Different complexities of Kalman filters, with biases and currents, are investigated with data from Florida Atlantic's Ocean Explorer II surface run. This thesis used a simulated loss of DGPS data to represent the vehicle's submergence. All levels of complexity of the Kalman filters are shown to be much more accurate then the basic dead reckoning solution commonly used aboard autonomous underwater vehicles.

Anintensive 5 Day 40 Hour Course on Multisensor Aided GPS/INS Kalman Navigation

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Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (249 download)

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Book Synopsis Anintensive 5 Day 40 Hour Course on Multisensor Aided GPS/INS Kalman Navigation by : Sam C. Bose

Download or read book Anintensive 5 Day 40 Hour Course on Multisensor Aided GPS/INS Kalman Navigation written by Sam C. Bose and published by . This book was released on 2003 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: