Positioning with AHRS/ODOMETER/GPS system

• Autorzy: Kaniewski P. , Konatowski S.
• Języki publikacji: EN

Abstrakty

EN

The paper presents a project of an integrated positioning system composed of a dead reckoning unit (DR), and a GPS receiver. The DR subsystem includes an Attitude and Heading Reference System (AHRS) and an odometer. The data from DR and GPS are jointly processed via an algorithm of linearized complementary Kalman filter. The paper shortly introduces an idea of relative and absolute navigation. Next, it presents state-space description of the AHRS/ODOMETER/GPS integrated system. a functional structure of the system and Kalman filtering algorithm are presented. At last, the authors outline an adopted methodology of testing of AHRS/ODOMETER/GPS integrated system. Chosen results of the tests, conducted with use of real navigation data, are included in the paper. The presented positioning system may find its application in land vehicles.

Słowa kluczowe

EN

satellite navigation systems; positioning system; GPS; dead reckoning; filtering

PL

nawigacja satelitarna; system pozycjonujący; GPS; nawigacja zliczeniowa; filtracja

• Wydawca: Polskie Forum Nawigacyjne
• Czasopismo: Annual of Navigation
• Rocznik: 2001
• Tom: No. 3
• Strony: 75--89
• Opis fizyczny: Bibliogr. 7 poz., rys.

Twórcy

autor

Kaniewski P.

autor

Konatowski S.

• Military University of Technology, Warszawa