Application of Nonlinear Smoothing to Integrated GPS/INS Navigation System

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Seo, Jaewon; Lee, Jang Gyu; Park, Chan Gook; Lee, Hyung Keun; Kim, Seong-Baek
Issue Date
International Association of Chinese Professionals in Global Positioning Systems
Journal of Global Positioning Systems, 4(1-2): 88-94
Inertial Navigation SystemGPSNonlinear SmootherMobile Mapping System
The application of smoothing in the integrated
navigation system of 4S-Van is considered. 4S-Van is a
mobile mapping system, which provides the position
information of various objects on the road. For navigation
purpose, it has various sensors such as an inertial
measurement unit, a GPS receiver and an odometer. It is
also equipped with CCD cameras, laser scanners and
video cameras, for mapping purpose. The navigation
system of 4S-Van is based on an inertial navigation
system, which is aided by GPS and the odometer.
Because it can adopt a post-processing method for more
accurate and reliable results, the nonlinear smoothing is
applied. The nonlinear smoothing, which consists of a
forward filter, a backward filter and a smoother, is
implemented. For the forward filter, the extended Kalman
filter is designed, and for the backward filter, the
linearized Kalman filter is constituted. In the smoothing
stage, the results of two filters are combined. The
algorithm is applied to experimental data and the
obtained result demonstrates the effectiveness and good
performance of the nonlinear smoothing.
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College of Engineering/Engineering Practice School (공과대학/대학원)Dept. of Mechanical Aerospace Engineering (기계항공공학부)Journal Papers (저널논문_기계항공공학부)
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