GPS aided attitude and heading reference system using MEMS sensors

Abstract

Extended Kalman filter (EKF) solution for attitude and heading estimation was proposed with code phase GPS measurements aiding the micro electro mechanical systems (MEMS) Inertial Measurement Unit (IMU). The estimation was carried out assuming GPS update rates of 1, 4, 5 and 10 Hz while the IMU update rate was assumed to be 40 Hz. GPS outage durations of 20… (More)

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