Investigation of a Low-Cost and High-Accuracy GPS/IMU System
Published 16 January 1997
Da Ren
Citations32
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Abstract
A low-cost, high-accuracy integrated Global Positioning System (GPS)/inertial measurement unit (IMU) system is investigated. Several issues for the design and implementation of this cm-level GPS/IMU system are discussed, including the algorithms of inertial position and attitude computation, the mathematical model of the Kalman filter, the method of IMU feedback error calibration, and the technique of the GPS On-The-Fly ambiguity resolution. The performance of the integrated GP!YIMU system is evaluated using data collected during the field tests.
Keywords
Computer ScienceEngineering