Inertial Navigation Integration FIlter

Discussion in 'Math' started by catalin.dragosh, Mar 14, 2011.

  1. catalin.dragosh

    Thread Starter New Member

    Mar 14, 2011
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    0
    Hello,
    I am trying to create a filter that can integrate inertial measurements with GPS measurements. My inertial sensors are a yaw axis gyro, an odometer, and possibly a 3axis accelerometer.
    Could you please help me with some guidance? I have read papers, articles and books on the subject but I am still a little confused.
    I consider the acceleration constant, so I have a state vector x=[E N v_E v_N a_E a_N], E and N are the positions in NED coordinate system, v_E and v_N are the speed on each axis, and a is the acceleration on each axis
    The measurement vector z is [E_GPS N_GPS E_DR N_DR a_E a_N] where E_GPS and N_GPS are the coordinates obtained from the GPS receiver and E_DR and N_DR are the coordinates obtained from the inertial sensors through dead reckoning, and a is the acceleration obtained from the accelerometer.
    F, the transformation matrix is: [1 0 dt 0 (dt^2)/2 0; 0 1 0 dt 0 (dt^2)/2; 0 0 1 0 dt 0; 0 0 0 1 0 dt; 0 0 0 0 0 1];
    H, the measurement matrix is: [1 0 0 0 0 0; 0 1 0 0 0 0 ; 1 0 0 0 0 0; 0 1 0 0 0 0; 0 0 0 0 1 0; 0 0 0 0 0 1],
    Does it make any sense so far?
    My problem is that I don't know, for this system how can I determine the process noise covariance and measurement noise covariance.
    Can you give me some indications in that direction?
    Thank you very much.
     
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