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http://dx.doi.org/10.5302/J.ICROS.2008.14.7.702

Observability Analysis and Multi-Dimensional Filter Design of the INS/GPS Integrated System for Land Vehicles  

Cho, Seong-Yun (한국전자통신연구원 융합기술연구부문 텔레매틱스연구부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.7, 2008 , pp. 702-710 More about this Journal
Abstract
In this paper, the observability of the INS/GPS integrated system for a land vehicle is analyzed on measurements and different filters with respect to the measurements are designed. In the stationary case, it is shown that horizontal accelerometer biases and vertical attitude errors and gyro biases are unobservable. An 8-state filter is designed based on the observability analysis. When GPS signal is available, a 15-state filter is used with position and velocity measurements. To estimate the INS errors even in the case that GPS signal is blocked a filter is designed in consideration of the non-holonomic constraints of a land vehicle. In this case, the horizontal position and velocity errors and vertical attitude error are unobservable. However, a 12-state filter including the velocity states is designed to estimate the accelerometer biases. When GPS signal recovers, a 9-state filter is used excluding the sensor biases. This paper presents a multi-dimensional filter that switches the four filters according to the usable measurements and maneuver environments. A simulation is carried out to verify the performance of the proposed filter.
Keywords
INS/GPS; measurement; observability; multi-dimensional filter; constrained INS filter;
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Times Cited By KSCI : 6  (Citation Analysis)
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