A rao-blackwellized particle filter for INS/GPS integration

The localization performance of a navigation system can be improved by coupling different types of sensors. This paper focuses on INS-GPS integration. INS and GPS measurements allow to dene a non-linear state space model, which is appropriate to particle ltering. This model being conditionally linear Gaussian, a Rao-Blackwellization procedure can be applied to reduce the variance of the estimates.

Mots clés

Gps Navigation system INS

Domaines

Traitement du signal et de l'image [eess.SP]

Fichier principal

Calmettes_3187.pdf (261.2 Ko)

Origine	Fichiers éditeurs autorisés sur une archive ouverte

Open Archive Toulouse Archive Ouverte (OATAO) : Connectez-vous pour contacter le contributeur

https://hal.science/hal-04038861

Soumis le : mardi 21 mars 2023-10:47:39

Dernière modification le : jeudi 14 novembre 2024-16:40:21

Dates et versions

hal-04038861 , version 1 (21-03-2023)

Identifiants

HAL Id : hal-04038861 , version 1
DOI : 10.1109/ICASSP.2004.1326707
OATAO : 3187

Citer

Audrey Giremus, Arnaud Doucet, Vincent Calmettes, Jean-Yves Tourneret. A rao-blackwellized particle filter for INS/GPS integration. International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2004), IEEE, May 2004, Montréal, Canada. pp.III-964--III-967, ⟨10.1109/ICASSP.2004.1326707⟩. ⟨hal-04038861⟩

Exporter

BibTeX XML-TEI Dublin Core DC Terms EndNote DataCite

Collections

UNIV-TLSE2 CNRS UT1-CAPITOLE IRIT IRIT-MINDS TESA IRIT-SI IRIT-INPT TOULOUSE-INP UNIV-UT3 UT3-TOULOUSEINP ISAE-SUPAERO

32 Consultations

39 Téléchargements