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http://dx.doi.org/10.5573/ieie.2015.52.5.190

GPS/INS Fusion Using Multiple Compensation Method Based on Kalman Filter  

Kwon, Youngmin (KETI)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.52, no.5, 2015 , pp. 190-196 More about this Journal
Abstract
In this paper, we propose multiple location error compensation algorithm for GPS/INS fusion using kalman filter and introduce the way to reduce location error in 9-axis navigation devices for implementing inertial navigation technique. When evaluating location, there is an increase of location error. So navigation systems need robust algorithms to compensate location error in GPS/INS fusion. In order to improve robustness of 9-axis inertial sensor(mpu-9150) over its disturbance, we used tilt compensation method using compensation algorithm of acceleration sensor and Yaw angle compensation to have exact azimuth information of the object. And it shows improved location result using these methods combined with kalman filter.
Keywords
GPS/INS fusion; Multiple compensation algorithm; Location error; Kalman filter;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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