Multi-rate Sensor Fusion for GPS Navigation

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1、Multi-rateSensorFusionforGPSNavigationUsingKalmanFilteringbyDavidMcNeilMayhewThesissubmittedtotheFacultyoftheVirginiaPolytechnicInstituteandStateUniversityinpartialfulfillmentoftherequirementsforthedegreeofMASTEROFSCIENCEINELECTRICALENGINEERINGDr.PushkinKachroo,ChairmanDept.ofE

2、lectricalEngineeringDr.JohnBayDept.ofElectricalEngineeringDr.JosephBallDept.ofMathematicsMay,1999Blacksburg,VirginiaMulti-rateSensorFusionforGPSNavigationUsingKalmanFilteringbyDavidMcNeilMayhewCommitteechairman:Dr.PushkinKachroo,BradleyDepartmentofElectricalEngineering(ABSTRACT

3、)WiththeadventoftheGlobalPositionSystem(GPS),wenowhavetheabilitytodetermineabsolutepositionanywhereontheglobe.AlthoughGPSsystemsworkwellinopenenvironmentswithnooverheadobstructions,theyaresubjecttolargeunavoidableerrorswhenthereceptionfromsomeofthesatellitesisblocked.Thisoccurs

4、frequentlyinurbanenvironments,suchasdowntownNewYorkCity.GPSsystemsrequireatleastfoursatellitesvisibletomaintainagoodpositionfix.Tallbuildingsandtunnelsoftenblockseveral,ifnotall,ofthesatellites.Additionally,duetoSelectiveAvailability(SA),wheresmallamountsoferrorareintentionally

5、introduced,GPSerrorscantypicallyrangeupto100ftormore.Thisthesisproposesseveralmethodsforimprovingthepositionestimationcapabilitiesofasystembyincorporatingothersensoranddatatechnologies,includingKalmanfilteredinertialnavigationsystems,rule-basedandfuzzy-basedsensorfusiontechniqu

6、es,andauniquemap-matchingalgorithm.iiContentsLISTOFFIGURES...............................................................................................................................VINTRODUCTION................................................................................

7、..................................................11.1MOTIVATION..................................................................................................................................11.2SCOPEANDSTRUCTUREOFTHESIS.......................................................

8、...........................................1LITERATURE