Kalman Filtering Applied to Low-Cost Navigation Systems: A Preliminary Approach

摘要

The development of the technology in the last decades, and in particular of the navigation and positioning systems, with the appearance of the Micro-Electro-Mechanical Systems (MEMS) allowed solutions of positioning and navigation low-cost. The objective of this work is the construction of a low-cost positioning solution for small sailboats. Kalman filtering is used to process data from an MEMS inertial sensor and a GPS receiver on small sailing vessels. The validation of the work is done by comparing the results obtained by the low-cost system with those obtained by higher precision systems.