Novel Position Estimation for GPS and Low-Cost INS Fusion

M. Uenoyama, H. Nakamura and H. Nishitani

Abstract:	In this paper, we consider the issue of GPS and low-cost INS fusion. Our method provides a new solution for dealing with initial velocity. When using an accelerometer for dead reckoning, position error from initial velocity error grows as time increases. Therefore, in this paper we propose an observer for estimating initial velocity that cancels the effect of initial velocity error in position estimation. A proof of convergence of the proposed observers is provided in the paper. Finally, we conducted a computer simulation and an experiment that confirmed the effectiveness of our method.
Published in:	Proceedings of IEEE/ION PLANS 2006 April 25 - 27, 2006 Loews Coronado Resort Hotel San Diego, CA
Pages:	630 - 635
Cite this article:	Uenoyama, M., Nakamura, H., Nishitani, H., "Novel Position Estimation for GPS and Low-Cost INS Fusion," Proceedings of IEEE/ION PLANS 2006, San Diego, CA, April 2006, pp. 630-635. https://doi.org/10.1109/PLANS.2006.1650654
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