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This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License
Article
Author(s)
Thanh Trung Duong1, Nguyen Van Sang1, Do Van Duong2 and Kai-Wei Chiang3
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DOI:10.17265/2162-5298/2017.06.005
Affiliation(s)
1. Department of Geomatics and Land Administration, Hanoi University of Mining and Geology, Hanoi 100000, Vietnam
2. Faculty of Surveying and Mapping, Hanoi University of Natural Resources and Environment, Hanoi 100000, Vietnam
3. Department of Geomatics, National Cheng Kung University, Tainan 701, Taiwan
ABSTRACT
The integration of GNSS (Global Navigation Satellite System) and INS
(Inertial Navigation System) using IMU (Inertial Measurement Unit) is now
widely used for MMS (Mobile Mapping System) and navigation applications to seamlessly determine position, velocity and
attitude of the mobile platform. With low cost, small size, ligh weight and low
power consumtion, the MEMS
(Micro-Electro-Mechanical System) IMU and low cost GPS (Global Positioning System) receivers are now the trend in
research and using for many applications. However, researchs in the literature
indicated that the the performance of the low cost INS/GPS systems is still
poor, particularly, in case of GNSS-noise environment. To overcome this
problem, this research applies analytic contrains
including non-holonomic
constraint and zero velocity
update in the data fusion engine such as Extended Kalman Filter to improve the
performance of the system. The benefit of the proposed method will be
demonstrated through experiments and data analysis.
KEYWORDS
GNSS (Global Navigation Satellite System), INS (Inertial Navigation System), navigation, analytic constraints.
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