Data fusion of MEMS IMU/GPS integrated system for autonomous land vehicle

被引：3
|
作者：
Wang, Meiling [1 ]
机构：
[1] Beijing Inst Technol, Dept Automat Control, Beijing 100081, Peoples R China
来源：
2006 IEEE International Conference on Information Acquisition, Vols 1 and 2, Conference Proceedings | 2006年
关键词：
artificial intelligence; Kalman filter; MEMS IMU/GPS; ALV; dead-reckoning;
D O I：
10.1109/ICIA.2006.305846
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
To improve the performance of MEMES IMU based integrated system, the data fusion method integrated AI and Kalman filter was discussed. First, GPS signal validity and vehicle motion status were identified by using fuzzy logics. And when GPS doesn't outage, its data were set higher weight to be used to guide ALV; otherwise, AI (Artificial Intelligence) based integration algorithm with the help of Kalman filter was adopted. The method can make full use of the advantages of KF (Kalman Filter) and AI, and reduce their limitations.
引用
收藏
页码：80 / 84
页数：5
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