Development of State Estimation System with INS, Magnetometer and Carrier Phase GPS for Vehicle Navigation

This paper presents a real-time state estimation system for vehicles using inertial sensors, magnetic sensors and GPS receivers with carrier phase measurement capability. The article concentrates on the precise attitude estimation. A real-time method for carrier phase integer ambiguity determination is described. The state estimation algorithm is a two level extended Kalman filter. The results are tested for real movement of a car and a sail-plane.


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  • Accession Number: 01602946
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Jun 14 2016 3:08PM