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Kalman 2

This document discusses methods for improving GPS position accuracy when GPS signals are intermittent. It proposes using an inertial measurement unit (IMU) containing an accelerometer along with wheel rotation tracking and vehicle speed to calculate distance and position between GPS signals. A Kalman filter would help fuse the data from multiple sensors like GPS, IMU and wheel sensors to find the best estimated position.

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aamya
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40 views1 page

Kalman 2

This document discusses methods for improving GPS position accuracy when GPS signals are intermittent. It proposes using an inertial measurement unit (IMU) containing an accelerometer along with wheel rotation tracking and vehicle speed to calculate distance and position between GPS signals. A Kalman filter would help fuse the data from multiple sensors like GPS, IMU and wheel sensors to find the best estimated position.

Uploaded by

aamya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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GSP pos 1 GSP pos 2

GPS error / StepSize

5 Meter

As GPS has step si


detect in-bet
Car Car
So in order to get t
to start calculation
4 Meter help of acce
Position X Position Y We have to comp
sensors ( GPS v
And find the be
Distance calculation using IMU Kalman filter helps
IMU - Accelerometer fusion/data

Speedo - meter Distance calculation using physics


Velocity/time, Wheel-rotation tracking etc

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