Improving INS/GPS Integration for Mobile Robotics Applications: A Thesis in Mechatronics - Softcover

Abuhashim, Tariq

 
9783639161779: Improving INS/GPS Integration for Mobile Robotics Applications: A Thesis in Mechatronics
Softcover
ISBN 10: 3639161777 ISBN 13: 9783639161779
Verlag: VDM Verlag, 2009

Inhaltsangabe

This work, mainly, discusses the issue of implementing a low-cost GPS-Aided-Inertial navigation system that achieves integrity. For a mobile robot to operate in remote, hazardous and harsh environments while being implemented with low-cost sensors, fault detection and identification is a must. In this work, integrity is defined as the ability of the system to provide reliable navigation information, to monitor the health of the aids, to detect abnormalities in their behaviour, and to survive once a failure in one of its components occurs. Therefore, the integrity of the low cost GPS/INS systems is investigated to ensure the ability to obtain continuous high-integrity, high-accuracy vehicle state estimate under low-computational system requirement. A new fusion algorithm that guarantees integrity and does not affect optimality is presented. Simulated and experimental tests were conducted to verify the accuracy of the proposed techniques.

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Verlag
VDM Verlag
Erscheinungsdatum
2009
Sprache
Englisch
ISBN 10 
3639161777
ISBN 13 
9783639161779
Einband
Taschenbuch
Anzahl der Seiten
228
Kontakt zum Hersteller
Nicht verfügbar
Verantwortliche Person
Zeitfracht Medien GmbH
info-medien@zeitfracht.de

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