NDLI: Driftless 3-D Attitude Determination and Positioning of Mobile Robots By Integration of IMU With Two RTK GPSs

Content Provider	IEEE Xplore Digital Library
Author	Aghili, F. Salerno, A.
Copyright Year	1996
Abstract	This paper focuses on the integration of inertial measurement unit (IMU) with two real-time kinematic global positioning system (GPS) units in an adaptive Kalman filter (KF) for driftless estimation of a vehicle's attitude and position in 3-D. The observability analysis reveals that 1) integration of a single GPS with IMU does not constitute an observable system; and 2) integration of two GPS units with IMU results in a locally observable system provided that the line connecting two GPS antennas is not parallel with the vector of the measured acceleration, i.e., the sum of inertial and gravitational accelerations. The latter case makes it possible to compensate the error in the estimated orientation due to gyro drift and its bias without needing additional instrument for absolute orientation measurements, e.g., magnetic compass. Moreover, in order to cope with the fact that GPS systems sometimes lose their signal and receive inaccurate position data, the self-tuning filter estimates the covariance matrix associated with the GPS measurement noise. This allows the KF to incorporate GPS measurements in the data fusion process heavily only when the information received by GPS becomes reliably available. Finally, test results obtained from a mobile robot moving across uneven terrain demonstrate driftless 3-D pose estimation.
Starting Page	21
Ending Page	31
Page Count	11
File Size	962551
File Format	PDF
ISSN	10834435
Volume Number	18
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Observability Noise Mobile robots Vehicles Quaternions Antenna measurements real-time kinematic global positioning system (RTK GPS) Attitude determination global positioning system global positioning system-inertial measurement unit (GPS-IMU) integration inertial measurement unit Kalman filtering localization of mobile robots navigation of vehicles pose estimation
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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