The optimization of the outputs of loose coupled SINS/GPS system
- 10.2991/aiea-16.2016.62How to use a DOI?
- Strapdown inertial navigation system (SINS); global position system (GPS); loose coupled assessment; correction.
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.
- © 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/).
Cite this article
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 -