Adaptive Extended Kalman Filter for Navigation Data Processing

Electronics and Electrical Engineering 2012
Ansis Klūga, Vadims Bistrovs

To develop GPS and inertial sensor data fusion algorithm, which takes in account nonlinearity of MEMS (microelectromechanical) sensor model and improves performance metrics of navigation during GPS signal outages. This algorithm estimates velocity, position of vehicle, bias and scale factor of accelerometer. The developed algorithm was applied for kinematics data processing with simulated period of GPS signal outage. The implementation of algorithm was done using MATLAB's programming language.

Keywords
Extended Kalman Filter, MEMS IMU, GPS.
DOI
10.5755/j01.eee.122.6.1818

Klūga, A., Bistrovs, V. Adaptive Extended Kalman Filter for Navigation Data Processing. Electronics and Electrical Engineering, 2012, Vol.122, No.6, pp.37-40. ISSN 1392-1215. e-ISSN 2029-5731. Available from: doi:10.5755/j01.eee.122.6.1818

Publication language
English (en)