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Improvements to sof...
Improvements to software GNSS and reduced MEMS IMU measurement processing for urban navigation
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- Vinande, E. (author)
- University of Colorado, Boulder
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- Almqvist, J. (author)
- Luleå tekniska universitet
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- Akos, Dennis (author)
- Luleå tekniska universitet,EISLAB
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(creator_code:org_t)
- 2009
- 2009
- English.
- Related links:
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http://www.ion.org/m...
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https://urn.kb.se/re...
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Abstract
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- This paper extends work previously performed in the area of integrating reduced-cluster MEMS IMU and GNSS measurements in urban navigation conditions. These reduced-cluster IMU configurations are implemented since the typical dynamic conditions of land vehicles are well known. Specifically, this work utilizes a single-axis gyro for heading, a tri-axis accelerometer for velocity updates, and a commercially available software GPS receiver. The reduced inertial cluster is mounted in-line with the vehicle forward-right-down axes. Previous work by the authors has addressed the estimation of IMU mounting angles relative to the vehicle frame [1]. The vehicle frame is assumed parallel to the road surface. Therefore, any vehicle pitch and roll angles are due to local terrain variations.is work utilizes a single-axis gyro for heading, a tri-axis accelerometer for velocity updates, and a commercially available software GPS receiver. The reduced inertial cluster is mounted in-line with the vehicle forward-right-down axes. Previous work by the authors has addressed the estimation of IMU mounting angles relative to the vehicle frame [1]. The vehicle frame is assumed parallel to the road surface. Therefore, any vehicle pitch and roll angles are due to local terrain variations....
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Keyword
- GNSS
- Industriell elektronik
- Industrial Electronics
Publication and Content Type
- ref (subject category)
- kon (subject category)
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