DocumentCode
2556352
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
fYear
2008
fDate
4-4 Dec. 2008
Firstpage
72
Lastpage
76
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/SI.2008.4770429
Filename
4770429
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