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Un algorithme EM-UKF pour la calibration de capteurs inertiels dans un contexte d'hybridation avec le GPS
| Content Provider | Semantic Scholar |
|---|---|
| Author | Faurie, Frederic Giremus, Audrey Corretja, Vincent |
| Copyright Year | 2009 |
| Abstract | This paper deals with the hybridization of GPS with an Inertial Navigation System and more precisely with the calibration of inertial sensor errors. Classically, a Kalman filter or a particle filter are used to estimate jointly the sensor biases and the mobile location. However, since these biases are time-invariant, we propose a new algorithm based on an Expectation-Maximization (EM) approach to estimate these errors coupled with an Unscented Kalman filter to solve the navigation problem. To avoid matrix condition number problem during the maximization step, we split the bias vector in two parts and we estimate them alternately using the algorithm EM. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://documents.irevues.inist.fr/bitstream/handle/2042/28943/faurie_556.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
