| 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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