Data Fusion of MEMS IMU/GPS Integrated System for Autonomous Land Vehicle

摘要：

To improve the performance of MEMES IMU based integrated system, the data fusion method integrated AI and Kalman filter was discussed. First, GPS signal validity and vehicle motion status were identified by using fuzzy logics. And when GPS doesnt outage, its data were set higher weight to be used to guide ALV; otherwise, AI (Artificial Intelligence) based integration algorithm with the help of Kalman filter was adopted. The method can make full use of the advantages of KF (Kalman Filter) and AI, and reduce their limitations.

关键词： Artificial intelligence Kalman filter MEMS IMU/GPS ALV dead-reckoning

作者: Meiling Wang

作者单位: Department of Automatic Control Beijing Institute of Technology Beijing, China

会议类型: 国际会议

会议名称: 2006 IEEE International Conference on Information Acquisition

会议地点: 山东威海

会议语种:英文

页码: 80-84

在线出版日期: 2006-08-20（万方平台首次上网日期，不代表论文的发表时间）