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A versatile PC-based platform for inertial navigation
KTH, School of Electrical Engineering (EES), Signal Processing.ORCID iD: 0000-0002-3054-6413
KTH, School of Electrical Engineering (EES), Signal Processing.
KTH, School of Electrical Engineering (EES), Signal Processing.ORCID iD: 0000-0002-2718-0262
2007 (English)In: Proceedings of the 7th Nordic Signal Processing Symposium, NORSIG 2006, New York: IEEE , 2007, 262-265 p.Conference paper, Published paper (Refereed)
Abstract [en]

A GPS aided inertial navigation platform is presented, into which further sensors such as a camera, wheel-speed encoder etc., can be incorporated. The construction of the platform is described and an introduction to the sensor fusion approach is given. Results from a field-test is presented, indicating which error sources that needs to be modelled more accurately.

Place, publisher, year, edition, pages
New York: IEEE , 2007. 262-265 p.
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-7726DOI: 10.1109/NORSIG.2006.275238ISI: 000245415000067Scopus ID: 2-s2.0-39049127990ISBN: 978-142440412-4 (print)OAI: oai:DiVA.org:kth-7726DiVA: diva2:12837
Conference
7th Nordic Signal Processing Symposium, NORSIG 2006; Reykjavik; 7 June 2006 through 9 June 2006
Note
QC 20101116Available from: 2007-11-25 Created: 2007-11-25 Last updated: 2010-11-16Bibliographically approved
In thesis
1. GNSS-aided INS for land vehicle positioning and navigation
Open this publication in new window or tab >>GNSS-aided INS for land vehicle positioning and navigation
2007 (English)Licentiate thesis, comprehensive summary (Other scientific)
Abstract [en]

This thesis begins with a survey of current state-of-the art in-car navigation systems. The pros and cons of the four commonly used information sources — GNSS/RF-based positioning, vehicle motion sensors, vehicle models and map information — are described. Common filters to combine the information from the various sources are discussed.

Next, a GNSS-aided inertial navigation platform is presented, into which further sensors such as a camera and wheel-speed encoder can be incorporated. The construction of the hardware platform, together with an extended Kalman filter for a closed-loop integration between the GNSS receiver and the inertial navigation system (INS), is described. Results from a field test are presented.

Thereafter, an approach is studied for calibrating a low-cost inertial measurement unit (IMU), requiring no mechanical platform for the accelerometer calibration and only a simple rotating table for the gyro calibration. The performance of the calibration algorithm is compared with the Cramér-Rao bound for cases where a mechanical platform is used to rotate the IMU into different precisely controlled orientations.

Finally, the effects of time synchronization errors in a GNSS-aided INS are studied in terms of the increased error covariance of the state vector. Expressions for evaluating the error covariance of the navigation state vector are derived. Two different cases are studied in some detail. The first considers a navigation system in which the timing error is not taken into account by the integration filter. This leads to a system with an increased error covariance and a bias in the estimated forward acceleration. In the second case, a parameterization of the timing error is included as part of the estimation problem in the data integration. The estimated timing error is fed back to control an adjustable fractional delay filter, synchronizing the IMU and GNSS-receiver data.

Place, publisher, year, edition, pages
Stockholm: KTH, 2007. vii,[7] p.
Series
Trita-EE, ISSN 1653-5146 ; 2007:066
National Category
Signal Processing
Identifiers
urn:nbn:se:kth:diva-4556 (URN)
Presentation
2007-12-07, Hörsal E32, KTH, Lindstedtsvägen 3, Stockholm, 10:00
Opponent
Supervisors
Note
QC 20101117Available from: 2007-11-25 Created: 2007-11-25 Last updated: 2012-03-28Bibliographically approved

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Skog, IsaacHändel, Peter

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CiteExportLink to record
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Citation style
  • apa
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  • ieee
  • modern-language-association-8th-edition
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  • Other locale
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Output format
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  • asciidoc
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