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Communication Dans Un Congrès Année : 2013

GPS/INS/optic flow data fusion for position and Velocity estimation

Résumé

This paper presents a simple and easy to implement sensor data fusion algorithm, using a Kalman filter (KF) in a loosely coupled scheme, for estimation of the velocity and position of an object evolving in a three dimensional space. A global positioning system (GPS) provides the position measurement while the velocity measurement is taken from the optical flow sensor, finally, the inertial navigation system (INS) gives the acceleration, which is considered as the input of the system. Real time experimental results are shown to validate the proposed algorithm.
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Dates et versions

hal-00939204 , version 1 (30-01-2014)

Identifiants

  • HAL Id : hal-00939204 , version 1

Citer

Diego Mercado, Gerardo Ramon Flores Colunga, Pedro Castillo, Juan Antonio Escareño, Rogelio Lozano. GPS/INS/optic flow data fusion for position and Velocity estimation. International Conference on Unmanned Aircraft Systems (ICUAS 2013), May 2013, Atlanta, Georgia, United States. pp.486 - 491. ⟨hal-00939204⟩
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