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학술지 Multi-model Switching for Car Navigation Containing Low-Grade IMU and GPS Receiver
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저자
조성윤, 김병두, 조영수, 최완식
발행일
200710
출처
ETRI Journal, v.29 no.5, pp.688-690
ISSN
1225-6463
출판사
한국전자통신연구원 (ETRI)
DOI
https://dx.doi.org/10.4218/etrij.07.0207.0080
협약과제
07MD2400, 실내외 연속측위 기술개발, 최완식
초록
This letter presents a filter for a car navigation system integrating a low-grade inertial measurements unit (IMU) and a global positioning system receiver. The filter is designed according to the state variables to be estimated and the usable measurements. The usable measurements change from case to case, and the estimative state variables also change due to the measurements; therefore, multiple models must be used for real environmental maneuvers. In this letter, four models for land navigation are chosen and switched by rearranging the system matrix and resetting the error covariance matrices.
키워드
Car navigation, INS/GPS integrated system, Multi-model switching
KSP 제안 키워드
Car navigation system, GPS Receiver, INS/GPS integrated system, Inertial Measurements Unit, Low-grade, Multi-model switching, Multiple models, State variables, System Matrix, error covariance matrices, global positioning system(GPS)