However, the less complex kinematic model cannot realize smooth transitions between different motion statuses for the road vehicle with acceleration maneuvers. The unconventional integration strategy utilizes a basic three-dimensional (3D) kinematic trajectory model as the system model to directly estimate navigational parameters, and it allows the measurements from all of the sensors independently participating in measurement updates. To release the strong dependence of the conventional inertial navigation mechanization on the a priori low-cost inertial measurement unit (IMU) error model, this research applies an unconventional multi-sensor integration strategy to integrate multiple low-cost IMUs and a global positioning system (GPS) for mass-market automotive applications.
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