Uniform Framework For Gps Imu Integration Using Kalman Filtering

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Uniform Framework for GPS/IMU Integration Using Kalman Filtering

Author : John Bennett Herrington
Publisher :
ISBN 13 :
Total Pages : 213 pages
Book Rating : 4.:/5 (64 download)

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Book Synopsis Uniform Framework for GPS/IMU Integration Using Kalman Filtering by : John Bennett Herrington

Download or read book Uniform Framework for GPS/IMU Integration Using Kalman Filtering written by John Bennett Herrington and published by . This book was released on 1995 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: Today's modern avionics systems rely heavily on the integration of Global Positioning System (GPS) data and the air vehicle's accelerations obtained by an Inertial Measurement Unit (IMU). To properly resolve the GPS and the IMU data, one must have an understanding of the different coordinate systems involved. Since the GPS provides data in one coordinate reference frame and the IMU measures accelerations in another, transforming the data freely from one frame to the next is imperative if the avionics system is to provide meaningful data to the aircrew. This thesis provides a uniform approach to analysis and design of an integrated GPS/IMU avionics system using MATLAB/Simulink software development tools. Topics covered include: Coordinate Systems and Transformations, Fundamentals of Inertial Sensors, Tangent Plane Navigation, Kinematic Equations and Error Analysis, Global Positioning System (GPS) Sources and Errors, and Kalman Filter Design.

Uniform Framework for GPS/IMU Integration Using Kalman Filtering

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

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Book Synopsis Uniform Framework for GPS/IMU Integration Using Kalman Filtering by : John Bennett Herrington

Download or read book Uniform Framework for GPS/IMU Integration Using Kalman Filtering written by John Bennett Herrington and published by . This book was released on 1995 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Today's modern avionics systems rely heavily on the integration of Global Positioning System (GPS) data and the air vehicle's accelerations obtained by an Inertial Measurement Unit (IMU). To properly resolve the GPS and the IMU data, one must have an understanding of the different coordinate systems involved. Since the GPS provides data in one coordinate reference frame and the IMU measures accelerations in another, transforming the data freely from one frame to the next is imperative if the avionics system is to provide meaningful data to the aircrew. This thesis provides a uniform approach to analysis and design of an integrated GPS/IMU avionics system using MATLAB/Simulink software development tools. Topics covered include: Coordinate Systems and Transformations, Fundamentals of Inertial Sensors, Tangent Plane Navigation, Kinematic Equations and Error Analysis, Global Positioning System (GPS) Sources and Errors, and Kalman Filter Design.

A Summary of Research 1995

Author : United States. Naval Postgraduate School, Monterey, CA.
Publisher :
ISBN 13 :
Total Pages : 588 pages
Book Rating : 4.:/5 (321 download)

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Book Synopsis A Summary of Research 1995 by : United States. Naval Postgraduate School, Monterey, CA.

Download or read book A Summary of Research 1995 written by United States. Naval Postgraduate School, Monterey, CA. and published by . This book was released on 1995 with total page 588 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Global Positioning Systems, Inertial Navigation, and Integration

Author : Mohinder S. Grewal
Publisher : John Wiley & Sons
ISBN 13 : 0471463868
Total Pages : 415 pages
Book Rating : 4.4/5 (714 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 2004-04-05 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt: The only comprehensive guide to Kalman filtering and its applications to real-world GPS/INS problems Written by recognized authorities in the field, this book provides engineers, computer scientists, and others with a working familiarity with the theory and contemporary applications of Global Positioning Systems (GPS), Inertial Navigational Systems, 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 GPS-aided INS, modeling of gyros and accelerometers, and WAAS and LAAS. Drawing upon their many years of experience with GPS, INS, and the Kalman filter, the authors present numerous design and implementation techniques not found in other professional references, including original techniques for: * Representing the problem in a mathematical model * Analyzing the performance of the GPS sensor as a function of model parameters * Implementing the mechanization equations in numerically stable algorithms * Assessing computation requirements * Testing the validity of results * Monitoring GPS, INS, and Kalman filter performance in operation In order to enhance comprehension of the subjects covered, the authors have included software in MATLAB, demonstrating the workings of the GPS, 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.

Compilation of Theses Abstracts, October 1994-September 1995

Author : United States. Naval Postgraduate School, Monterey, CA.
Publisher :
ISBN 13 :
Total Pages : 564 pages
Book Rating : 4.:/5 (321 download)

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Book Synopsis Compilation of Theses Abstracts, October 1994-September 1995 by : United States. Naval Postgraduate School, Monterey, CA.

Download or read book Compilation of Theses Abstracts, October 1994-September 1995 written by United States. Naval Postgraduate School, Monterey, CA. and published by . This book was released on 1995 with total page 564 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Experimental Study on Kalman Filter in a Reduced-order Integrated GPS/IMU.

Author :
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (113 download)

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Book Synopsis Experimental Study on Kalman Filter in a Reduced-order Integrated GPS/IMU. by :

Download or read book Experimental Study on Kalman Filter in a Reduced-order Integrated GPS/IMU. written by and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Government Reports Announcements & Index

Author :
Publisher :
ISBN 13 :
Total Pages : 1000 pages
Book Rating : 4.:/5 (318 download)

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Book Synopsis Government Reports Announcements & Index by :

Download or read book Government Reports Announcements & Index written by and published by . This book was released on 1996 with total page 1000 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Intuitive Understanding of Kalman Filtering with MATLAB®

Author : Armando Barreto
Publisher : CRC Press
ISBN 13 : 0429577567
Total Pages : 248 pages
Book Rating : 4.4/5 (295 download)

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Book Synopsis Intuitive Understanding of Kalman Filtering with MATLAB® by : Armando Barreto

Download or read book Intuitive Understanding of Kalman Filtering with MATLAB® written by Armando Barreto and published by CRC Press. This book was released on 2020-09-06 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The emergence of affordable micro sensors, such as MEMS Inertial Measurement Systems, which are being applied in embedded systems and Internet-of-Things devices, has brought techniques such as Kalman Filtering, capable of combining information from multiple sensors or sources, to the interest of students and hobbyists. This will book will develop just the necessary background concepts, helping a much wider audience of readers develop an understanding and intuition that will enable them to follow the explanation for the Kalman Filtering algorithm

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

Author : Jonathan M. Neu
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.

Kalman Filtering

Author : Mohinder S. Grewal
Publisher : John Wiley & Sons
ISBN 13 : 1118210468
Total Pages : 458 pages
Book Rating : 4.1/5 (182 download)

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Book Synopsis Kalman Filtering by : Mohinder S. Grewal

Download or read book Kalman Filtering written by Mohinder S. Grewal and published by John Wiley & Sons. This book was released on 2011-09-20 with total page 458 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides readers with a solid introduction to the theoretical and practical aspects of Kalman filtering. It has been updated with the latest developments in the implementation and application of Kalman filtering, including adaptations for nonlinear filtering, more robust smoothing methods, and developing applications in navigation. All software is provided in MATLAB, giving readers the opportunity to discover how the Kalman filter works in action and to consider the practical arithmetic needed to preserve the accuracy of results. Note: CD-ROM/DVD and other supplementary materials are not included as part of eBook file. An Instructor's Manual presenting detailed solutions to all the problems in the book is available from the Wiley editorial department -- to obtain the manual, send an email to [email protected].

GPS/INS Integration Using Ensemble Kalman Filter

Author : 裴氏玉新
Publisher :
ISBN 13 :
Total Pages : 67 pages
Book Rating : 4.:/5 (87 download)

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Book Synopsis GPS/INS Integration Using Ensemble Kalman Filter by : 裴氏玉新

Download or read book GPS/INS Integration Using Ensemble Kalman Filter written by 裴氏玉新 and published by . This book was released on 2013 with total page 67 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Kalman Filtering and Its Application in GPS/INS Integration

Author :
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (939 download)

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Book Synopsis Kalman Filtering and Its Application in GPS/INS Integration by :

Download or read book Kalman Filtering and Its Application in GPS/INS Integration written by and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

GPS/INS Sensor Integration Using an Extended Kalman Filter Under Degraded Measurement Conditions

Author : Christopher C. Ross
Publisher :
ISBN 13 :
Total Pages : 158 pages
Book Rating : 4.:/5 (25 download)

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Book Synopsis GPS/INS Sensor Integration Using an Extended Kalman Filter Under Degraded Measurement Conditions by : Christopher C. Ross

Download or read book GPS/INS Sensor Integration Using an Extended Kalman Filter Under Degraded Measurement Conditions written by Christopher C. Ross and published by . This book was released on 1991 with total page 158 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Cooperative Localization and Navigation

Author : Chao Gao
Publisher : CRC Press
ISBN 13 : 0429016689
Total Pages : 636 pages
Book Rating : 4.4/5 (29 download)

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Book Synopsis Cooperative Localization and Navigation by : Chao Gao

Download or read book Cooperative Localization and Navigation written by Chao Gao and published by CRC Press. This book was released on 2019-08-21 with total page 636 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book captures the latest results and techniques for cooperative localization and navigation drawn from a broad array of disciplines. It provides the reader with a generic and comprehensive view of modeling, strategies, and state estimation methodologies in that fields. It discusses the most recent research and novel advances in that direction, exploring the design of algorithms and architectures, benefits, and challenging aspects, as well as a potential broad array of disciplines, including wireless communication, indoor localization, robotics, emergency rescue, motion analysis, etc.

Design, User Experience, and Usability: User Experience in Novel Technological Environments

Author : Aaron Marcus
Publisher : Springer
ISBN 13 : 3642392385
Total Pages : 625 pages
Book Rating : 4.6/5 (423 download)

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Book Synopsis Design, User Experience, and Usability: User Experience in Novel Technological Environments by : Aaron Marcus

Download or read book Design, User Experience, and Usability: User Experience in Novel Technological Environments written by Aaron Marcus and published by Springer. This book was released on 2013-07-01 with total page 625 pages. Available in PDF, EPUB and Kindle. Book excerpt: The four-volume set LNCS 8012, 8013, 8014 and 8015 constitutes the proceedings of the Second International Conference on Design, User Experience, and Usability, DUXU 2013, held as part of the 15th International Conference on Human-Computer Interaction, HCII 2013, held in Las Vegas, USA in July 2013, jointly with 12 other thematically similar conferences. The total of 1666 papers and 303 posters presented at the HCII 2013 conferences was carefully reviewed and selected from 5210 submissions. These papers address the latest research and development efforts and highlight the human aspects of design and use of computing systems. The papers accepted for presentation thoroughly cover the entire field of Human-Computer Interaction, addressing major advances in knowledge and effective use of computers in a variety of application areas. The total of 282 contributions included in the DUXU proceedings were carefully reviewed and selected for inclusion in this four-volume set. The 65 papers included in this volume are organized in the following topical sections: designing for safe and secure environments; designing for smart and ambient devices; designing for virtual and augmented environments; and emotional and persuasion design.

The Application of Indirect Kalman Filter on GPS/INS Integrated Navigation

Author :
Publisher :
ISBN 13 :
Total Pages : 136 pages
Book Rating : 4.:/5 (741 download)

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Book Synopsis The Application of Indirect Kalman Filter on GPS/INS Integrated Navigation by :

Download or read book The Application of Indirect Kalman Filter on GPS/INS Integrated Navigation written by and published by . This book was released on 2004 with total page 136 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Kalman Filter Integration of Modern Guidance and Navigation Systems

Author : North Atlantic Treaty Organization. Advisory Group for Aerospace Research and Development
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (72 download)

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Book Synopsis Kalman Filter Integration of Modern Guidance and Navigation Systems by : North Atlantic Treaty Organization. Advisory Group for Aerospace Research and Development

Download or read book Kalman Filter Integration of Modern Guidance and Navigation Systems written by North Atlantic Treaty Organization. Advisory Group for Aerospace Research and Development and published by . This book was released on 1989 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: