Multi-sensor data fusion for land vehicle attitude estimation using a fuzzy expert system

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概要

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• In Inertial Navigation Systems (INS), the attitude estimated from gyro measurements by the Kalman filter is subject to an unbound error growth during the stand-alone mode, especially for land vehicle applications using low-cost sensors. To improve the attitude estimation of a land vehicle, this paper applies a fuzzy expert system to assist in multi-sensor data fusion from MEMS accelerometers, MEMS gyroscopes and a digital compass based on their complementary motion detection characteristics. Field test results have shown that drift-free and smooth attitude estimation can be achieved and will lead to a significant performance improvement for velocity and position estimation.

著者

• Gao Yang

  Department of Biopharmaceutics, Kyoto Pharmaceutical University

• Gao Yang

  Department of Geomatics Engineering, The University of Calgary

• Wang Jau-Hsiung

  Department of Geomatics Engineering, The University of Calgary

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