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Yanran Wang
Beihang University

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Adaptive integrated navigation filtering based on accelerometer calibration Yanran Wang; Hai Zhang; Qifan Zhou
Indonesian Journal of Electrical Engineering and Computer Science Vol 10, No 7: November 2012
Publisher : Institute of Advanced Engineering and Science

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Abstract

In this paper, a novel GPS (Global Positioning System) and DR (Dead Reckoning) system which was based on the accelerometer and gyroscope integrated system was designed and implemented. In this system, the odometer used in traditional DR system was replaced by a MEMS tri-axis accelerometer in order to decrease the cost and the volume of the system. The system was integrated by the Kalman filter and a new mathematical model was introduced. In order to reasonably use the GPS information, an adaptive algorithm based on single measurement system which could estimate the measurement noise covariance was obtained. On the purpose of reducing the effect of the accumulated error caused by drift and bias of accelerometer, the accelerometer was calibrated online when GPS performed well. In this way, the integrated system could not only obtain the high-precision positioning in real time, but also perform stably in practice. DOI: http://dx.doi.org/10.11591/telkomnika.v10i7.1603
Co-Authors Hai Zhang Qifan Zhou