Cascade Kalman Filter Configuration for Low Cost IMU/GPS Integration in Car Navigation Like Robot
This paper introduces a low cost INS/GPS algorithm for
land vehicle navigation application. The data fusion process is done
with an extended Kalman filter in cascade configuration mode. In
order to perform numerical simulations, MATLAB software has been
developed. Loosely coupled configuration is considered. The results
obtained in this work demonstrate that a low-cost INS/GPS navigation
system is partially capable of meeting the performance requirements
for land vehicle navigation. The relative effectiveness of the kalman
filter implementation in integrated GPS/INS navigation algorithm is
highlighted. The paper also provides experimental results; field test
using a car is carried out.
[1] Mohander, S.G., Lawrance, R.W., Angus, P.A. Global positioning system
inertial navigation system and integration, JohnWiley & Sons, 2001.
[2] Titterton, D.H., Weston, J.L., Strapdown inertial navigation technology,
Peter Peregrinus Ltd., London, UK, 1997.
[3] Eric, N.M., Dynamic Modeling and Control of a Car-Like Robot, Masters
Thesis, Virginia Polytechnic Institute and State University, February,
2003.
[4] El-Sheimy, Inertial techniques and INS/DGPS Integration. ENGO 623-
Lecture Notes, University of Calgary, Department of Geomatics Engineering,
Calgary, 2004.
[5] Greg, W., An Introduction to the Kalman Filter, Gary Bishop University
of North Carolina at Chapel Hill Department of Computer Science Chapel
Hill, NC 27599-3175.
[6] A Cloud Cap Technology Inc., Crista Inertial Measurement Unit (IMU)
Interface / Operation Document, Crista- Interface/Operation Document,
2004.
[7] GPS 18 Technical Specifications (190-00307-00).
[1] Mohander, S.G., Lawrance, R.W., Angus, P.A. Global positioning system
inertial navigation system and integration, JohnWiley & Sons, 2001.
[2] Titterton, D.H., Weston, J.L., Strapdown inertial navigation technology,
Peter Peregrinus Ltd., London, UK, 1997.
[3] Eric, N.M., Dynamic Modeling and Control of a Car-Like Robot, Masters
Thesis, Virginia Polytechnic Institute and State University, February,
2003.
[4] El-Sheimy, Inertial techniques and INS/DGPS Integration. ENGO 623-
Lecture Notes, University of Calgary, Department of Geomatics Engineering,
Calgary, 2004.
[5] Greg, W., An Introduction to the Kalman Filter, Gary Bishop University
of North Carolina at Chapel Hill Department of Computer Science Chapel
Hill, NC 27599-3175.
[6] A Cloud Cap Technology Inc., Crista Inertial Measurement Unit (IMU)
Interface / Operation Document, Crista- Interface/Operation Document,
2004.
[7] GPS 18 Technical Specifications (190-00307-00).
@article{"International Journal of Electrical, Electronic and Communication Sciences:63263", author = "Othman Maklouf and Abdurazag Ghila and Ahmed Abdulla", title = "Cascade Kalman Filter Configuration for Low Cost IMU/GPS Integration in Car Navigation Like Robot", abstract = "This paper introduces a low cost INS/GPS algorithm for
land vehicle navigation application. The data fusion process is done
with an extended Kalman filter in cascade configuration mode. In
order to perform numerical simulations, MATLAB software has been
developed. Loosely coupled configuration is considered. The results
obtained in this work demonstrate that a low-cost INS/GPS navigation
system is partially capable of meeting the performance requirements
for land vehicle navigation. The relative effectiveness of the kalman
filter implementation in integrated GPS/INS navigation algorithm is
highlighted. The paper also provides experimental results; field test
using a car is carried out.", keywords = "GPS, INS, IMU, Kalman filter.", volume = "6", number = "6", pages = "604-8", }