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1、ProceedingsoftheIEEEInternationalConferenceonMechatronics&AutomationNiagaraFalls,Canada•July2005NavigationwithIMU/GPS/DigitalCompasswithUnscentedKalmanFilterPifuZhang∗,JasonGu†,EvangelosE.Milios∗,andPeterHuynh†∗FacultyofComputerScienceDalhousieUniversity6050UniversityAvenue,Halifax,NS,B3H1W5Em
2、ail:{pifu,eem}@cs.dal.ca†DepartmentofElectrical&ComputerEngineeringDalhousieUniversity1360BarringtonStreet,Halifax,NS,CanadaB3J1Z1Email:{jason.gu,phuynh}@dal.caAbstract—AutonomousvehiclenavigationwithstandardIMUunder-water[5].Therefore,forareliablenavigationsystem,anddifferentialGPShasbeenwide
3、lyusedforaviationandanothertypeofsensor,suchasIMU,isneeded.militaryapplications.OurresearchinterestingisfocusedonTheinertialnavigationsystem(INS),originallydevelopedusingsomelow-costoff-the-shelfsensors,suchasstrap-downIMU,inexpensivesingleGPSreceiver.Inthispaper,wepresentinthemid60sforMissile
4、Guidancesystems,measurestheanautonomousvehiclenavigationmethodbyintegratingtheaccelerationsandrotationsappliedtoasystem’sinertialframemeasurementsofIMU,GPS,anddigitalcompass.Twostepsareofreference.Thesemeasurementsaredoneviaaninertialadoptedtoovercomethelowprecisionofthesensors.Thefirstismeasur
5、ementunit(IMU)thatconsistsofthreelinearac-toestablishsophisticateddynamicsmodelswhichconsiderEarthcelerometers(devicesthatmeasureacceleration)andthreerateselfrotation,measurementbias,andsystemnoise.ThesecondistouseasigmaKalmanfilterforthesystemstateestimation,gyroscopes(devicesthatmeasureangula
6、rrotationrate).AnwhichhashigheraccuracycomparedwiththeextendedKalmanIMUsystemassembledfromlow-costsolidstatecomponentsfilter.Themethodwasevaluatedbyexperimentingonalandisalwaysconstructedinastrap-downconfiguration.Thestrap-vehicleequippedwithIMU,GPS,anddigitalcompass.downmeansthatthegyroscopesan
7、daccelerometersarefixedtoacommonchassisandarenotactivelycontrolledongimbalsIndexTerms—Sensorfusion.Navigation.UnscentedKalmanfilter.Estimation.toalignthemselvesinaprespecifieddirection[4].Thestrap-downconfigurationmakestheIMUwidelyaccessibl
