- 期刊
- OpenAccess
Real-time INS/GPS Integration with Optimal On-line Smoothing for Mobile Mapping Systems Utilizing a Low Cost MEMS IMU
並列摘要
For mobile mapping system, the integration of inertial navigation system (INS) and global positioning system (GPS) is widely applied as the main component of the direct geo-referencing system to determine position and orientation. For real-time applications, Kalman filter is often used as the main estimator for data fusion and backward smoothing is considered an optimal post-processing procedure. This study apply smoothing algorithm in a real-time INS/GPS integrated system to on-line update smoothed states at near real-time rate. To verify the effectiveness of the proposed method, field tests with different testing scenarios are implemented in comparison with reliable reference data.
參考文獻
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