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    On the Observability of Loosely Coupled Global Positioning System/Inertial Navigation System Integrations With Five Degree of Freedom and Four Degree of Freedom Inertial Measurement Units

    Source: Journal of Dynamic Systems, Measurement, and Control:;2014:;volume( 136 ):;issue: 002::page 21023
    Author:
    Ryan, Jonathan G.
    ,
    Bevly, David M.
    DOI: 10.1115/1.4025985
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This article examines the observability of a modified loosely coupled global positioning system/inertial navigation system (GPS/INS) filter and analyzes the sideslip and attitude estimation capability of the filter. The modified filter is a loosely coupled integration which does not include a pitch rate gyro and which uses GPS course information as a measurement of heading when the vehicle is driving straight. Experimental tests are conducted which show that the modified filter has the same observability characteristics as a standard loosely coupled filter during turning events. The observability of a loosely coupled integration using only a four degree of freedom (DOF) inertial measurement unit (IMU) is also discussed and examined by experiment, as well as the sideslip and roll angle estimation performance. Finally, the error characteristics of the modified loosely coupled integration with the five DOF IMU when the filter is unobservable are studied. Monte Carlo simulations of long periods of straight driving with various sensor qualities are presented to show the worst case attitude errors when the filter is unobservable.
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      On the Observability of Loosely Coupled Global Positioning System/Inertial Navigation System Integrations With Five Degree of Freedom and Four Degree of Freedom Inertial Measurement Units

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    http://yetl.yabesh.ir/yetl1/handle/yetl/154307
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    contributor authorRyan, Jonathan G.
    contributor authorBevly, David M.
    date accessioned2017-05-09T01:06:20Z
    date available2017-05-09T01:06:20Z
    date issued2014
    identifier issn0022-0434
    identifier otherds_136_02_021023.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/154307
    description abstractThis article examines the observability of a modified loosely coupled global positioning system/inertial navigation system (GPS/INS) filter and analyzes the sideslip and attitude estimation capability of the filter. The modified filter is a loosely coupled integration which does not include a pitch rate gyro and which uses GPS course information as a measurement of heading when the vehicle is driving straight. Experimental tests are conducted which show that the modified filter has the same observability characteristics as a standard loosely coupled filter during turning events. The observability of a loosely coupled integration using only a four degree of freedom (DOF) inertial measurement unit (IMU) is also discussed and examined by experiment, as well as the sideslip and roll angle estimation performance. Finally, the error characteristics of the modified loosely coupled integration with the five DOF IMU when the filter is unobservable are studied. Monte Carlo simulations of long periods of straight driving with various sensor qualities are presented to show the worst case attitude errors when the filter is unobservable.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleOn the Observability of Loosely Coupled Global Positioning System/Inertial Navigation System Integrations With Five Degree of Freedom and Four Degree of Freedom Inertial Measurement Units
    typeJournal Paper
    journal volume136
    journal issue2
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.4025985
    journal fristpage21023
    journal lastpage21023
    identifier eissn1528-9028
    treeJournal of Dynamic Systems, Measurement, and Control:;2014:;volume( 136 ):;issue: 002
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian