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| Paper: | SS-9.3 |
| Session: | Advances in Signal Processing for Positioning, Tracking, and Navigation |
| Time: | Thursday, May 20, 16:10 - 16:30 |
| Presentation: |
Special Session Lecture |
| Topic: |
Special Sessions: Advances in signal processing for positioning, tracking, and navigation |
| Title: |
A RAO-BLACKWELLIZED PARTICLE FILTER FOR INS/GPS INTEGRATION |
| Authors: |
Audrey Giremus; IRIT/ENSEEIHT/TéSA, University of Toulouse | | |
| | Arnaud Doucet; University of Cambridge | | |
| | Vincent Calmettes; SUPAERO/TéSA, University of Toulouse | | |
| | Jean-Yves Tourneret; IRIT/ENSEEIHT/TéSA, university of Toulouse | | |
| Abstract: |
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 define a non-linear state space model, which is appropriate to particle filtering. This model being conditionally linear Gaussian, a Rao-Blackwellization procedure can be applied to reduce the variance of the estimates. |
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