Tightly-coupled GNSS/IMU integration filter speed scale-factor and heading bias calibration
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机译:紧密耦合的GNSS / IMU集成滤波器速度比例因子和航向偏差校准
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摘要
Embodiments of the invention provide methods to calibrate a tightly-coupled integration filter for inertial sensor-assisted GNSS (global navigation satellite system) receiver. The inertial measurement unit (IMU) contains inertial sensors such as accelerometer, magnetometer, and/or gyroscopes. Embodiments include creating a coordinate transformation matrix using a latest position fix (latitude and longitude). Transforming state variables to a local navigation coordinate using coordinate transformation matrix. The state variables of the integration filter which include speed scale-factor and/or heading bias are estimated. A blended calibrated position fix is outputted.
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