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Conference Paper
DR/GPS Integrated System for Seamless Positioning as a Telematics Navigator
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- Authors
- Seong Yun Cho, Wan Sik Choi
- Issue Date
- 2005-09
- Citation
- International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS) 2005, pp.448-455
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper demonstrates that a simplified DR scheme and a DR/GPS system design for low-cost land navigation. The DR scheme has minimum number of inertial sensors and the DR/GPS system is designed using the sigma point Kalman filter (SPKF). It is shown that the performance of a stand-alone DR system and a DR/GPS system can be enhanced employing the proposed system. The DR system does not have undetectable error that can be occurred on the curve trajectory in the conventional INS construction containing low-grade accelerometers. And the DR/GPS system can provide a stable and seamless navigation solution even in the case that the initial heading estimation error is large, and the GPS signal is unavailable occasionally because of tunnels, buildings, etc. in the urban canyon. Experimental results indicate a satisfactory performance of the proposed system.
- KSP Keywords
- GPS signal, GPS system, Inertial sensors, Integrated system, Low-cost, Low-grade, Seamless navigation, Stand-Alone, Urban Canyon, estimation error, heading estimation