상세정보
학술지
Multi-model Switching for Car Navigation Containing Low-Grade IMU and GPS Receiver
- 발행일
- 200710
- 출처
- ETRI Journal, v.29 no.5, pp.688-690
- ISSN
- 1225-6463
- 출판사
- 한국전자통신연구원 (ETRI)
- 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.
- KSP 제안 키워드
- Car navigation system, GPS Receiver, Inertial Measurements Unit, Low-grade, Multi-model switching, Multiple models, State variables, System Matrix, error covariance matrices, global positioning system(GPS)