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Estimering av GPS pålitlighet och GPS/INS fusion
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
2013 (Swedish)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesisAlternative title
Estimation of GPS reliability and GPS/INS fusion (English)
Abstract [en]

The global Positioning System (GPS) provides location and time information as long as there are unobstructed lines of sight to four or more GPS satellites. However, when this is not the case the signal may be inaccurate or sometimes even completely blocked. In these situations the Inertial Navigation System (INS) is an appropriate choice for positioning.  An INS has already been proposed in a previous thesis by Erik Andersson and the objective of this thesis is to fuse the GPS with the INS in a proper way. A part of this project is to decide the reliability of the GPS.Three methods for GPS reliability detection have been proposed. One method based on the statistical properties of each of the separate systems, and two methods based on the statistical properties of the residuals between the GPS and INS. Two methods for GPS/INS integration have been proposed. One method based on a bank of parallel running Kalman filters and one method based on an adaptive observer.The method based on Kalman filter diverged. By adding a state that was suppose to represent the bias of the noise an attempt was to fix this problem made. The filter still diverged and was not examined any further. Among the other two algorithms did the one that uses both magnetometer and gyroscope presents a better result than the one that uses only gyroscope. However, the result differences between the two algorithms were not big and the result may change if a better INS is used.

Place, publisher, year, edition, pages
2013. , 58 p.
UPTEC F, ISSN 1401-5757 ; 13027
Keyword [en]
GPS, INS, fusion, Kalman filter, MMAE
National Category
Signal Processing
URN: urn:nbn:se:uu:diva-203171OAI: diva2:635335
Educational program
Master Programme in Engineering Physics
Available from: 2013-08-09 Created: 2013-07-03 Last updated: 2013-08-09Bibliographically approved

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