Achieving integrity in an INS/GPS navigation loop for autonomous land vehicle applications

被引：0

作者：

Sukkarieh, S ^{[1
]}

Nebot, EM ^{[1
]}

Durrant-Whyte, HF ^{[1
]}

机构：

[1] Univ Sydney, Dept Mech & Mechatr Engn, Australian Ctr Field Robot, Sydney, NSW 2006, Australia

来源：

1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The objective of this paper is to introduce and investigate the issue of integrity in an INS/GPS navigation loop for autonomous land vehicle applications. The paper briefly outlines the standard fusion algorithm for the INS/GPS loop, while the focus is on the detection of possible faults both before and during the fusion process. The concept of fault detection will centre on the low frequency faults of the INS, caused by bias and drift, and the high frequency faults of the GPS unit caused by multipath errors and changes in satellite geometry.

引用

页码：3437 / 3442

页数：4