The optimization of the outputs of loose coupled SINS/GPS system

DOI

10.2991/aiea-16.2016.62How to use a DOI?

Keywords

Strapdown inertial navigation system (SINS); global position system (GPS); loose coupled assessment; correction.

Abstract

In addition to check the availability of the Global Position System (GPS) receiver, residual 2 detection method, which is used to assess the quality of auxiliary information provided by GPS and the fluctuations of the outputs of Kalman filter, is introduced in this paper. If the value of the detecting function is larger than the threshold value, the current navigation output minus the last navigation output and the difference is compared to another threshold which is set according to the motor performance of the vehicle. If the difference is bigger than the threshold, according to the change direction of the difference, the navigation results are corrected. While, if the difference is smaller than the threshold, the navigation results are output directly. The on-board experiments show that this method could monitor the fluctuations of outputs of GPS receiver and Kalman filter. And the precision of the attitude and velocity are greatly improved after the process of correction. The precision of the position is improved to a certain extent.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yiting Liu
AU  - Ying Xu
AU  - Tingting Li
AU  - Xin Jin
PY  - 2016/11
DA  - 2016/11
TI  - The optimization of the outputs of loose coupled SINS/GPS system
BT  - Proceedings of the 2016 International Conference on Artificial Intelligence and Engineering Applications
PB  - Atlantis Press
SP  - 345
EP  - 352
SN  - 2352-538X
UR  - https://doi.org/10.2991/aiea-16.2016.62
DO  - 10.2991/aiea-16.2016.62
ID  - Liu2016/11
ER  -