Open document
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General information |
| Author |
Lim, Chot Hun; Lim, Tien Sze; Koo, Voon Chet |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
A Strapdown Inertial Navigation Unit (SINU) is a
low cost motion measurement device commonly used for
navigation solutions. Global Positioning System (GPS) is
usually adopted as an external reference source to minimize
the SINUʹs accumulation errors by applying a Kalman filter
to obtain best estimations in positions, velocities and
orientations. However, due to the low sampling rate of GPS,
such a configuration does not provide intensive orientation
estimation. In this paper, a new and efficient real‐time GPSaided
SINU system with incorporated magnetometers is
developed to enhance the orientation estimation. An
intensive orientation estimation algorithm is developed by
combining the extra sensory inputs from magnetometers
with the inputs from accelerometers. The estimated
orientation was applied in the Kalman filtering, replacing
the GPS‐aided orientation estimation. The offline
implementation shows promising results in reducing both
the accelerometersʹ and gyroscopesʹ errors. Finally, the
design is successfully implemented in real‐time. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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