Title :
Novel MEMS INS/GPS Integration Scheme Using Parallel Kalman Filters
Author :
Tan, Tran Duc ; Ha, Luu Manh ; Long, N.T. ; Tue, H.H. ; Thuy, N.P.
Author_Institution :
COLTECH, Hanoi
Abstract :
In this paper, the special estimation schemes for INS/GPS integration is addressed and implemented on real-time PC-box hardware. The strapdown INS (SINS) using two Kalman filters (KF) has been built so that the system can be operated flexibly between feed-forward and feedback modes in case of GPS outage. The experiment results shown that this INS/GPS system can be used for practical applications.
Keywords :
Global Positioning System; Kalman filters; estimation theory; inertial navigation; micromechanical devices; MEMS INS/GPS integration scheme; estimation schemes; feed-forward modes; feedback modes; parallel Kalman filters; real-time PC-box hardware; Arm; Cameras; Electrical capacitance tomography; Global Positioning System; Grippers; Humanoid robots; Humans; Micromechanical devices; Mobile robots; Nuclear magnetic resonance; GPS; INS; Parallel Kalman Filters;
Conference_Titel :
System Integration, 2008 IEEE/SICE International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4244-3838-9
Electronic_ISBN :
978-1-4244-2209-8
DOI :
10.1109/SI.2008.4770429
