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15-State Extended Kalman Filter Design for INS/GPS Navigation System

Pham, Van Tang and Nguyen, Van Thang and Chu, Duc Trinh and Tran, Duc Tan (2015) 15-State Extended Kalman Filter Design for INS/GPS Navigation System. Journal of Automation and Control Engineering, 3 (2). ISSN 2301-3702

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Nowadays, navigation system has been receiving high demand for various kind of applications. Among these systems, Global positioning system (GPS) and Inertial navigation system (INS) are the most popular. In this paper, a 15-state Extended Kalman Filter is designed to integrate INS and GPS in a flexible way compared with many conventional integration. Based on the loosely coupled GPS/INS integration, the proposed scheme can switch back and forth between feed forward and feedback aiding methods. Thus, the system can reduce the position and velocity errors compared to conventional integration method. To verify the technique, a simulation model is created using Simulink/MATLAB. The data is obtained from Micro PSU BP3010 IMU sensor and HI-204 GPS receiver. The simulation result confirms the benefit of integrated system in both open and urban areas, and suitable for real-time implementation.

Item Type: Article
Subjects: Electronics and Communications
Electronics and Communications > Electronics and Computer Engineering
Divisions: Faculty of Electronics and Telecommunications (FET)
Depositing User: Assoc/Prof Duc Tan Tran
Date Deposited: 26 May 2016 15:27
Last Modified: 26 May 2016 15:29

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