Using the Kalman filter to integrate GPS and IMU data in noisy environments
The article deals with the problem of improving the accuracy and reliability of navigation systems that use the integration of GPS and IMU data in a noisy environment. The main task is to reduce errors arising from the periodic absence of GPS and noise in IMU measurements. To solve this problem, we...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Zhytomyr Polytechnic State University
2024-12-01
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| Series: | Технічна інженерія |
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| Online Access: | http://ten.ztu.edu.ua/article/view/319109 |
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| author | Ye.B. Artamonov A.K. Zhultynska T.I. Zaloznyi A.V. Radchenko K.M. Radchenko |
| author_facet | Ye.B. Artamonov A.K. Zhultynska T.I. Zaloznyi A.V. Radchenko K.M. Radchenko |
| author_sort | Ye.B. Artamonov |
| collection | DOAJ |
| description | The article deals with the problem of improving the accuracy and reliability of navigation systems that use the integration of GPS and IMU data in a noisy environment. The main task is to reduce errors arising from the periodic absence of GPS and noise in IMU measurements. To solve this problem, we consider the use of the Kalman filter to predict and correct the system state based on available measurements, even in the case of partial or complete loss of the GPS signal. The research methods include a series of experiments aimed at modelling different scenarios: ideal conditions (no noise) and noise on both sensors (GPS and IMU). During the experiments, data on the real position and speed were collected and processed, which allowed us to evaluate the accuracy of the Kalman filter in different conditions and showed a significant reduction in the position error. |
| format | Article |
| id | doaj-art-1fa4f95ea04e489e84f97d72a6bb91d3 |
| institution | DOAJ |
| issn | 2706-5847 2707-9619 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Zhytomyr Polytechnic State University |
| record_format | Article |
| series | Технічна інженерія |
| spelling | doaj-art-1fa4f95ea04e489e84f97d72a6bb91d32025-08-20T02:40:33ZengZhytomyr Polytechnic State UniversityТехнічна інженерія2706-58472707-96192024-12-019426980doi.org/10.26642/ten-2024-2(94)-69-80Using the Kalman filter to integrate GPS and IMU data in noisy environmentsYe.B. Artamonov0https://orcid.org/0000-0002-9875-7372A.K. Zhultynska1https://orcid.org/0000-0001-9178-897XT.I. Zaloznyi2https://orcid.org/0009-0002-3012-4840A.V. Radchenko3https://orcid.org/0009-0003-8288-171XK.M. Radchenko4https://orcid.org/0009-0009-8056-6293Національна академія СБУ, UkraineNational Aviation University, UkraineNational Aviation University, UkraineNational Aviation University, UkraineNational Aviation University, UkraineThe article deals with the problem of improving the accuracy and reliability of navigation systems that use the integration of GPS and IMU data in a noisy environment. The main task is to reduce errors arising from the periodic absence of GPS and noise in IMU measurements. To solve this problem, we consider the use of the Kalman filter to predict and correct the system state based on available measurements, even in the case of partial or complete loss of the GPS signal. The research methods include a series of experiments aimed at modelling different scenarios: ideal conditions (no noise) and noise on both sensors (GPS and IMU). During the experiments, data on the real position and speed were collected and processed, which allowed us to evaluate the accuracy of the Kalman filter in different conditions and showed a significant reduction in the position error.http://ten.ztu.edu.ua/article/view/319109kalman filtergpsimunavigation systemspositioning accuracy |
| spellingShingle | Ye.B. Artamonov A.K. Zhultynska T.I. Zaloznyi A.V. Radchenko K.M. Radchenko Using the Kalman filter to integrate GPS and IMU data in noisy environments Технічна інженерія kalman filter gps imu navigation systems positioning accuracy |
| title | Using the Kalman filter to integrate GPS and IMU data in noisy environments |
| title_full | Using the Kalman filter to integrate GPS and IMU data in noisy environments |
| title_fullStr | Using the Kalman filter to integrate GPS and IMU data in noisy environments |
| title_full_unstemmed | Using the Kalman filter to integrate GPS and IMU data in noisy environments |
| title_short | Using the Kalman filter to integrate GPS and IMU data in noisy environments |
| title_sort | using the kalman filter to integrate gps and imu data in noisy environments |
| topic | kalman filter gps imu navigation systems positioning accuracy |
| url | http://ten.ztu.edu.ua/article/view/319109 |
| work_keys_str_mv | AT yebartamonov usingthekalmanfiltertointegrategpsandimudatainnoisyenvironments AT akzhultynska usingthekalmanfiltertointegrategpsandimudatainnoisyenvironments AT tizaloznyi usingthekalmanfiltertointegrategpsandimudatainnoisyenvironments AT avradchenko usingthekalmanfiltertointegrategpsandimudatainnoisyenvironments AT kmradchenko usingthekalmanfiltertointegrategpsandimudatainnoisyenvironments |