Tightly-coupled GNSS/IMU integration filter having speed scale-factor and heading bias calibration
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United States of America Patent
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May 21, 2013
Grant Date -
May 6, 2010
app pub date -
Nov 4, 2009
filing date -
Nov 6, 2008
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Abstract
Embodiments of the invention provide a tightly-coupled integration filter for inertial sensor-assisted GNSS (global navigation satellite system) receiver. The inertial measurement unit (IMU) contains inertial sensors such as accelerometer, magnetometer, and/or gyroscopes. Embodiments include blending filter based on extended Kalman filter (EKF), which optimally integrates the IMU navigation data with all other satellite measurements (tightly-coupled integration filter). The proposed blending filter includes two states for estimating/compensating the speed scale-factor and the heading bias in the INS measurement.
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