A Rao-Blackwellized particle filter for INS/GPS integration
The localization performance of a navigation system can be improved by coupling different types of sensors. This paper focuses on INS-GPS integration. INS and GPS measurements allow to define a non-linear state space model, which is appropriate to particle filtering. This model being conditionally l...
| Main Authors: | , , , |
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| Format: | Journal article |
| Language: | English |
| Published: |
2004
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| _version_ | 1797100384500580352 |
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| author | Giremus, A Doucet, A Calmettes, V Tourneret, J |
| author_facet | Giremus, A Doucet, A Calmettes, V Tourneret, J |
| author_sort | Giremus, A |
| collection | OXFORD |
| description | The localization performance of a navigation system can be improved by coupling different types of sensors. This paper focuses on INS-GPS integration. INS and GPS measurements allow to define a non-linear state space model, which is appropriate to particle filtering. This model being conditionally linear Gaussian, a Rao-Blackwellization procedure can be applied to reduce the variance of the estimates. |
| first_indexed | 2024-03-07T05:36:42Z |
| format | Journal article |
| id | oxford-uuid:e423d353-1bc1-4d92-9448-f9f30550c33d |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-07T05:36:42Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | oxford-uuid:e423d353-1bc1-4d92-9448-f9f30550c33d2022-03-27T10:14:25ZA Rao-Blackwellized particle filter for INS/GPS integrationJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:e423d353-1bc1-4d92-9448-f9f30550c33dEnglishSymplectic Elements at Oxford2004Giremus, ADoucet, ACalmettes, VTourneret, JThe localization performance of a navigation system can be improved by coupling different types of sensors. This paper focuses on INS-GPS integration. INS and GPS measurements allow to define a non-linear state space model, which is appropriate to particle filtering. This model being conditionally linear Gaussian, a Rao-Blackwellization procedure can be applied to reduce the variance of the estimates. |
| spellingShingle | Giremus, A Doucet, A Calmettes, V Tourneret, J A Rao-Blackwellized particle filter for INS/GPS integration |
| title | A Rao-Blackwellized particle filter for INS/GPS integration |
| title_full | A Rao-Blackwellized particle filter for INS/GPS integration |
| title_fullStr | A Rao-Blackwellized particle filter for INS/GPS integration |
| title_full_unstemmed | A Rao-Blackwellized particle filter for INS/GPS integration |
| title_short | A Rao-Blackwellized particle filter for INS/GPS integration |
| title_sort | rao blackwellized particle filter for ins gps integration |
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