Improving INS/GPS Integration for Mobile Robotics Applications

Name: Improving INS/GPS Integration for Mobile Robotics Applications
Brand: VDM Verlag
SKU: 9783639161779
Price: 436.13 RON
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Autor: Tariq Abuhashim

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Editura: VDM Verlag

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This work, mainly, discusses the issue of implementing a low-cost GPS-Aided-Inertial navigation syst...

Informații despre carte

Autor

Tariq Abuhashim

Limbă

engleză

Legare

Carte - Carte broșată

Publicat

2009

Pagini

228

EAN

9783639161779

ISBN

3639161777

Enbook ID

06824604

Editura

VDM Verlag

Greutate

340

Dimensiuni

152 x 229 x 13

Descriere completă

This work, mainly, discusses the issue of implementing a low-cost GPS-Aided-Inertial navigation system that achieves integrity. For a mobile robot to operate in remote, hazardous and harsh environments while being implemented with low-cost sensors, fault detection and identification is a must. In this work, integrity is defined as the ability of the system to provide reliable navigation information, to monitor the health of the aids, to detect abnormalities in their behaviour, and to survive once a failure in one of its components occurs. Therefore, the integrity of the low cost GPS/INS systems is investigated to ensure the ability to obtain continuous high-integrity, high-accuracy vehicle state estimate under low-computational system requirement. A new fusion algorithm that guarantees integrity and does not affect optimality is presented. Simulated and experimental tests were conducted to verify the accuracy of the proposed techniques.

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Improving INS/GPS Integration for Mobile Robotics Applications

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