کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
6956075 | 1451865 | 2015 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Constrained low-cost GPS/INS filter with encoder bias estimation for ground vehicles׳ applications
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
پردازش سیگنال
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
In this paper, a constrained, fault-tolerant, low-cost navigation system is proposed for ground vehicle׳s applications. The system is designed to provide a vehicle navigation solution at 50 Hz by fusing the measurements of the inertial measurement unit (IMU), the global positioning system (GPS) receiver, and the velocity measurement from wheel encoders. A high-integrity estimation filter is proposed to obtain a high accuracy state estimate. The filter utilizes vehicle velocity constraints measurement to enhance the estimation accuracy. However, if the velocity measurement of the encoder is biased, the accuracy of the estimate is degraded. Therefore, a noise estimation algorithm is proposed to estimate a possible bias in the velocity measurement of the encoder. Experimental tests, with simulated biases on the encoder׳s readings, are conducted and the obtained results are presented. The experimental results show the enhancement in the estimation accuracy when the simulated bias is estimated using the proposed method.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanical Systems and Signal Processing - Volumes 58â59, June 2015, Pages 285-297
Journal: Mechanical Systems and Signal Processing - Volumes 58â59, June 2015, Pages 285-297
نویسندگان
Mamoun F. Abdel-Hafez, Kamal Saadeddin, Mohammad Amin Jarrah,