Effects of initial attitude estimation errors on loosely coupled smartphone GPS/IMU integration system

Kwansik Park; Woohyun Kim; Jiwon Seo

doi:10.23919/ICCAS50221.2020.9268364

Effects of initial attitude estimation errors on loosely coupled smartphone GPS/IMU integration system

Kwansik Park, Woohyun Kim, Jiwon Seo

School of Integrated Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

Global Positioning System (GPS) and inertial measurement unit (IMU) sensors are commonly integrated using the extended Kalman filter (EKF), for achieving better navigation performance. However, because of nonlinearity, the performance of the EKF is affected by the initial state estimation errors, and the navigation solutions, including the attitude, diverge rapidly as the initial errors increase. This paper analyzes the data obtained from an outdoor experiment, and investigates the effect of the initial errors on the attitude estimation performance using EKF, which is used in loosely coupled low-cost smartphone GPS/IMU sensors.

Original language	English
Title of host publication	2020 20th International Conference on Control, Automation and Systems, ICCAS 2020
Publisher	IEEE Computer Society
Pages	800-803
Number of pages	4
ISBN (Electronic)	9788993215205
DOIs	https://doi.org/10.23919/ICCAS50221.2020.9268364
Publication status	Published - 2020 Oct 13
Event	20th International Conference on Control, Automation and Systems, ICCAS 2020 - Busan, Korea, Republic of Duration: 2020 Oct 13 → 2020 Oct 16

Publication series

Name	International Conference on Control, Automation and Systems
Volume	2020-October
ISSN (Print)	1598-7833

Conference

Conference	20th International Conference on Control, Automation and Systems, ICCAS 2020
Country/Territory	Korea, Republic of
City	Busan
Period	20/10/13 → 20/10/16

Bibliographical note

Funding Information:
This research was supported by the Unmanned Vehicles Core Technology Research and Development Program through the National Research Foundation of Korea (NRF) and the Unmanned Vehicle Advanced Research Center (UVARC) funded by the Ministry of Science and ICT, Republic of Korea (No. 2020M3C1C1A01086407).

Publisher Copyright:
© 2020 Institute of Control, Robotics, and Systems - ICROS.

Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Science Applications
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.23919/ICCAS50221.2020.9268364

Cite this

Park, K., Kim, W., & Seo, J. (2020). Effects of initial attitude estimation errors on loosely coupled smartphone GPS/IMU integration system. In 2020 20th International Conference on Control, Automation and Systems, ICCAS 2020 (pp. 800-803). [9268364] (International Conference on Control, Automation and Systems; Vol. 2020-October). IEEE Computer Society. https://doi.org/10.23919/ICCAS50221.2020.9268364

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title = "Effects of initial attitude estimation errors on loosely coupled smartphone GPS/IMU integration system",

abstract = "Global Positioning System (GPS) and inertial measurement unit (IMU) sensors are commonly integrated using the extended Kalman filter (EKF), for achieving better navigation performance. However, because of nonlinearity, the performance of the EKF is affected by the initial state estimation errors, and the navigation solutions, including the attitude, diverge rapidly as the initial errors increase. This paper analyzes the data obtained from an outdoor experiment, and investigates the effect of the initial errors on the attitude estimation performance using EKF, which is used in loosely coupled low-cost smartphone GPS/IMU sensors.",

author = "Kwansik Park and Woohyun Kim and Jiwon Seo",

note = "Funding Information: This research was supported by the Unmanned Vehicles Core Technology Research and Development Program through the National Research Foundation of Korea (NRF) and the Unmanned Vehicle Advanced Research Center (UVARC) funded by the Ministry of Science and ICT, Republic of Korea (No. 2020M3C1C1A01086407). Publisher Copyright: {\textcopyright} 2020 Institute of Control, Robotics, and Systems - ICROS. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; 20th International Conference on Control, Automation and Systems, ICCAS 2020 ; Conference date: 13-10-2020 Through 16-10-2020",

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doi = "10.23919/ICCAS50221.2020.9268364",

language = "English",

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Park, K, Kim, W & Seo, J 2020, Effects of initial attitude estimation errors on loosely coupled smartphone GPS/IMU integration system. in 2020 20th International Conference on Control, Automation and Systems, ICCAS 2020., 9268364, International Conference on Control, Automation and Systems, vol. 2020-October, IEEE Computer Society, pp. 800-803, 20th International Conference on Control, Automation and Systems, ICCAS 2020, Busan, Korea, Republic of, 20/10/13. https://doi.org/10.23919/ICCAS50221.2020.9268364

Effects of initial attitude estimation errors on loosely coupled smartphone GPS/IMU integration system. / Park, Kwansik; Kim, Woohyun; Seo, Jiwon.

2020 20th International Conference on Control, Automation and Systems, ICCAS 2020. IEEE Computer Society, 2020. p. 800-803 9268364 (International Conference on Control, Automation and Systems; Vol. 2020-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N1 - Funding Information: This research was supported by the Unmanned Vehicles Core Technology Research and Development Program through the National Research Foundation of Korea (NRF) and the Unmanned Vehicle Advanced Research Center (UVARC) funded by the Ministry of Science and ICT, Republic of Korea (No. 2020M3C1C1A01086407). Publisher Copyright: © 2020 Institute of Control, Robotics, and Systems - ICROS. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

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N2 - Global Positioning System (GPS) and inertial measurement unit (IMU) sensors are commonly integrated using the extended Kalman filter (EKF), for achieving better navigation performance. However, because of nonlinearity, the performance of the EKF is affected by the initial state estimation errors, and the navigation solutions, including the attitude, diverge rapidly as the initial errors increase. This paper analyzes the data obtained from an outdoor experiment, and investigates the effect of the initial errors on the attitude estimation performance using EKF, which is used in loosely coupled low-cost smartphone GPS/IMU sensors.

AB - Global Positioning System (GPS) and inertial measurement unit (IMU) sensors are commonly integrated using the extended Kalman filter (EKF), for achieving better navigation performance. However, because of nonlinearity, the performance of the EKF is affected by the initial state estimation errors, and the navigation solutions, including the attitude, diverge rapidly as the initial errors increase. This paper analyzes the data obtained from an outdoor experiment, and investigates the effect of the initial errors on the attitude estimation performance using EKF, which is used in loosely coupled low-cost smartphone GPS/IMU sensors.

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M3 - Conference contribution

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Effects of initial attitude estimation errors on loosely coupled smartphone GPS/IMU integration system

Abstract

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