Navigation system development of the underwater vehicles using the GPS/INS sensor fusion

被引：0

作者：

Lee, In-Uk ^{[1
]}

Li, Hang ^{[1
]}

Nhat-Minh Hoang ^{[1
]}

Lee, Jang-Myung ^{[2
]}

机构：

[1] Pusan Natl Univ, Dept Elect Elect & Comp Sci Engn, Busan 609735, South Korea

[2] Pusan Natl Univ, Dept Elect Engn, Busan 609735, South Korea

来源：

2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014) | 2014年

基金：

新加坡国家研究基金会;

关键词：

Kalman Filter; GPS/INS; Sensor Fusion; IMU;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Sensor fusion of GPS/INS using the Kalman filter design is proposed in this paper. GPS/INS data are utilized for estimating position of AUV (Autonomous Underwater Vehicle) and Kalman filter elaborate the position estimation. The received GPS signals are stable most of times, because they correct the position from signals received by a satellite signals in real-time. But they are not accurate. So the INS data (gyroscope sensor, accelerometer, magnetic compass) compensate for the inaccuracy of the GPS data. The noise in the acceleration data from INS data is reduced by Kalman filter in this paper. So, the KF localization system in surface of the water is proposed in this paper the system performance is confirmed by experiments.

引用

页码：610 / 612

页数：3

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