Othman Maklouf and Abdurazag Ghila and Ahmed Abdulla
Cascade Kalman Filter Configuration for Low Cost IMUGPS Integration in Car Navigation Like Robot
571 - 578
2012
6
6
International Journal of Electrical and Computer Engineering
https://publications.waset.org/pdf/14260
https://publications.waset.org/vol/66
World Academy of Science, Engineering and Technology
This paper introduces a low cost INSGPS algorithm for
land vehicle navigation application. The data fusion process is done
with an extended Kalman filter in cascade configuration mode. In
order to perform numerical simulations, MATLAB software has been
developed. Loosely coupled configuration is considered. The results
obtained in this work demonstrate that a lowcost INSGPS navigation
system is partially capable of meeting the performance requirements
for land vehicle navigation. The relative effectiveness of the kalman
filter implementation in integrated GPSINS navigation algorithm is
highlighted. The paper also provides experimental results; field test
using a car is carried out.
Open Science Index 66, 2012