Open AccessMulti‐model Switching for Car Navigation Containing Low‐Grade IMU and GPS Receiver
Author(s) -
Cho Seong Yun,
Kim Byung Doo,
Cho Young Su,
Choi Wan Sik
Publication year - 2007
Publication title -
etri journal
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.295
H-Index - 46
eISSN - 2233-7326
pISSN - 1225-6463
DOI - 10.4218/etrij.07.0207.0080
Subject(s) - inertial measurement unit , usable , global positioning system , computer science , inertial navigation system , navigation system , gps/ins , state (computer science) , covariance , filter (signal processing) , real time computing , assisted gps , engineering , control theory (sociology) , simulation , artificial intelligence , computer vision , inertial frame of reference , algorithm , telecommunications , mathematics , statistics , physics , control (management) , quantum mechanics , world wide web
This letter presents a filter for a car navigation system integrating a low‐grade inertial measurements unit (IMU) and a global positioning system receiver. The filter is designed according to the state variables to be estimated and the usable measurements. The usable measurements change from case to case, and the estimative state variables also change due to the measurements; therefore, multiple models must be used for real environmental maneuvers. In this letter, four models for land navigation are chosen and switched by rearranging the system matrix and resetting the error covariance matrices.