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INS/GPS Navigation Accuracy Improvement With Nonholonomic Constraints
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Kwangjin | - |
dc.contributor.author | Park, Chan Gook | - |
dc.date.accessioned | 2010-01-06T08:14:17Z | - |
dc.date.available | 2010-01-06T08:14:17Z | - |
dc.date.issued | 2006-07 | - |
dc.identifier.citation | The 6th Asian Control Conference, July 18-21, 2006, Bali, Indonesia | en |
dc.identifier.uri | https://hdl.handle.net/10371/26993 | - |
dc.description.abstract | This paper describes an INS/GPS integration algorithm with
nonholonomic constraints for improving navigation accuracy during periods of GPS signal outage. The constraints that the velocity of the vehicle in the plane perpendicular to the forward direction is almost zero are used as a new measurement of the Kalman filter for the navigation. By using the relationships between velocity equations and sensor noises, theoretical analysis of the new measurement is performed to decide the most appropriate measurement noise. The proposed method is tested for a land vehicle using two GPS receivers and a tactical grade INS. The experimental results show that the nonholonomic constraints provide a reasonable solution to the problem of GPS signal outage. | en |
dc.description.sponsorship | ADD/Samsung | en |
dc.language.iso | en | en |
dc.title | INS/GPS Navigation Accuracy Improvement With Nonholonomic Constraints | en |
dc.type | Conference Paper | en |
dc.contributor.AlternativeAuthor | 김광진 | - |
dc.contributor.AlternativeAuthor | 박찬국 | - |
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