APPARATUS AND METHOD FOR POSITION INFORMATION ACQUISITION USING DATA FUSION OF GPS AND IMU

摘要

invention GPS and IMU data fusion of the location information obtained by the device and its location information acquisition method in relates. The present invention, at least a GPS sensor for receiving GPS signals from one or more satellites, and the inertial measurement unit (IMU) for measuring the inertia of the moving object according to the motion data, a control unit for monitoring whether reception of the GPS signal, the controller monitoring result, if the GPS signal is not received the input data, the GPS sensor is provided to provide a moving object position information by the inertial measurement device by processing the input data provided by the GPS sensor Henkel matrix (Hankel Matrix) in the form and performing a matrix for converting, for providing the position information of the moving object by processing the converted matrix Henkel the SVD (SVD: Singular Value Decomposition) is configured to perform includes an algorithm. In addition, the GPS sensor and the Kalman filter and the coordinate transformation unit is a direction cosine matrix (Direction Cosine Matrix) is applied to transform the coordinate system of the cross-inertial measurement unit, to offset accumulated error in the inertial measurement unit (Kalman Filter) providing a and further comprising: According to this invention, in the GPS reception disabled area has the advantage that can provide position information with high accuracy. ;