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Communication Dans Un Congrès Année : 2010

Nonlinear filtering for ultra-tight gnss/ins integration

Résumé

This paper considers the problem of ultra--tight GNSS/INS integration. We propose a new approach, deriving the direct relation between Inertial Measurement Unit (IMU) measurements and synchronization parameters, used in the trilateration algorithm to compute the position of the receiver. We take into account the IMU's eventual biased behavior by introducing it into the state representation. We use a recently--developed, square-root derivative--free Gaussian nonlinear filter to solve the estimation problem.
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Dates et versions

hal-00448865 , version 1 (20-01-2010)

Identifiants

  • HAL Id : hal-00448865 , version 1

Citer

Carles Fernandez Prades, Pau Closas, Jordi Vilà Valls. Nonlinear filtering for ultra-tight gnss/ins integration. ICC 2010 - IEEE International Conference on Communications, May 2010, Le Cap, South Africa. pp.n.c. ⟨hal-00448865⟩
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