IDEAS home Printed from https://ideas.repec.org/a/eee/matcom/v86y2012icp101-117.html
   My bibliography  Save this article

On the GPS/IMU sensors’ noise estimation for enhanced navigation integrity

Author

Listed:
  • Abdel-Hafez, Mamoun F.

Abstract

In this paper, the problem of estimating the measurements’ noise statistics of the Global Positioning System (GPS) is addressed. First, a model matching technique is used to estimate the GPS measurements’ noise statistics. Then, the formulation of the measurements and process noise estimation using the Autocovariance Least Squares technique will be derived for the time-varying GPS/IMU system. It is assumed that the process noise covariance matrix is known or determined a priori through off-line calibration. The Autocovariance Least Squares method improves on the assumptions of the model matching technique by considering the time-correlation in the measurements’ residual sequence due to the a priori unknown GPS measurements’ noise covariance matrix. Both methods make use of statistical sampling theory in the estimation filter. Simulation results for both methods will be presented at the end of the paper. The results are compared and the improvement gained when using the Autocovariance Least Squares method in comparison to the model matching technique will be shown.

Suggested Citation

  • Abdel-Hafez, Mamoun F., 2012. "On the GPS/IMU sensors’ noise estimation for enhanced navigation integrity," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 86(C), pages 101-117.
    • Handle: RePEc:eee:matcom:v:86:y:2012:i:c:p:101-117
    DOI: 10.1016/j.matcom.2010.03.005
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S0378475410000765
    Download Restriction: Full text for ScienceDirect subscribers only
    File URL: https://libkey.io/10.1016/j.matcom.2010.03.005?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:matcom:v:86:y:2012:i:c:p:101-117. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Catherine Liu (email available below). General contact details of provider: http://www.journals.elsevier.com/mathematics-and-computers-in-simulation/ .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.