liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Enhancement of Positioning and Attitude Estimation Using Raw GPS Data in an Extended Kalman Filter
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2014 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

A Global Positioning System (GPS) can be used to estimate an objects position,given that the object has a GPS antenna. However, the system requires informationfrom at least four independent satellites in order to be able to give a positionestimate. If two GPS antennas and a carrier-phase GPS measurement unit is usedan estimate of the objects heading can be calculated by determine the baselinebetween the two antennas. The method is called GPS Attitude Determination(GPSAD) and requires that an Integer Ambiguity Problem (IAP) is solved. Thismethod is cheaper than more traditional methods to calculate the heading butis dependent on undisturbed GPS-reception. Through support from an InertialMeasurement Unit (IMU), containing accelerometers and gyroscopes, the systemcan be enhanced. In Thorstenson [2012] data from GPS, GPSAD and IMU wasintegrated in an Extended Kalman Filter (EKF) to enhance the performance. Thisthesis is an extension on Thorstensons work and is divided into two separate problems:enhancement of positioning when less than four satellites are available andthe possibility to integrate the EKF with the search of the correct integers for theIAP in order to enhance the estimation of attitude. For both problems an implementationhas been made and the performance has been enhanced for simulateddata. For the first problem it has been possible to enhance the performance onreal data while that has not been possible for the second problem. A number ofproposals is given on how to enhance the performance for the second problemusing real data.

Place, publisher, year, edition, pages
2014. , 64 p.
Keyword [en]
GPS, attitude determination, pseudorange, tight coupling
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-109336ISRN: LiTH-ISY-EX–14/4759–SEOAI: diva2:737694
External cooperation
Saab Bofors Dynamics
Subject / course
Automatic Control
Available from: 2014-08-21 Created: 2014-08-13 Last updated: 2014-08-21Bibliographically approved

Open Access in DiVA

mainfinalversion(1612 kB)236 downloads
File information
File name FULLTEXT01.pdfFile size 1612 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Carlsson, Jesper
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 236 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 1665 hits
ReferencesLink to record
Permanent link

Direct link