MEMS/GPS Kalman Filter

PDF

Authors
  1. Arden, D.
Corporate Authors
Dale Arden Consulting, Kanata ONT (CAN);Defence R&D Canada - Ottawa, Ottawa ONT (CAN)
Abstract
This report describes important parts of the Kalman filter that is used in MEMS/GPS to optimally combine data from different navigation sensors in a way that will provide the best navigation solution in all situations. The implementation of this filter is based on earlier work: the Dual Inertial Integrated Navigation System (DIINS). Unless otherwise stated, the theory, algorithms, techniques and models applied to the MEMS/GPS Kalman filter are the same as those described in DIINS documentation. This report was written as an addendum to the DIINS documents. That is not to say that the differences are insignificant: the MEMS/GPS filter has completely different target applications; filter timing has changed from clock timed to data driven; there are new sensors, and new non-sensor measurements; there is a complementary IMU strapdown navigator running with the filter in a closed-loop fashion; and new IMU error states were added to try to better model the larger MEMS IMU errors. The main focus of the sensor integration has also been modified: in DIINS, the emphasis was on failure detection, isolation and reconfiguration; in the MEMS/GPS system, the emphasis is on maintaining navigation accuracy during periods of GPS loss or degradation.
Report Number
DRDC-OTTAWA-CR-2007-093 — Contractor Report
Date of publication
01 Aug 2004
Number of Pages
49
DSTKIM No
CA029338
CANDIS No
527629
Format(s):
CD ROM

Permanent link

Document 1 of 1

Date modified: