High Accuracy Low Cost RTK/SINS for Land-Vehicles
- 10.2991/icmmita-16.2016.175How to use a DOI?
- RTK; SINS; Integrated Navigation; RTKLIB; AKF.
Many situation demand a high precision, low cost and robust navigation for Land-Vehicles. Real Time Kinematic (RTK) satellite navigation is a technique that can provide up to centimeter level accuracy. But in the condition of poor visibility of satellites, the function of RTK is limited. To achieve a reliable high-precision navigation solution, this paper presents a RTK/SINS integration system based on the complementary features of RTK and SINS. The RTK is designed based on an open source program package RTKLIB. We use an innovation-based adaptive Kalman Filter with forget factor that filtering parameters can be adjusted by the change of GPS' measurement noise in our project. Finally, the reliable and high accuracy of the low cost system is verified through several experiments.
- © 2017, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Yayang Cheng AU - Tongyue Gao AU - Shihao Zhu PY - 2017/01 DA - 2017/01 TI - High Accuracy Low Cost RTK/SINS for Land-Vehicles BT - Proceedings of the 2016 4th International Conference on Machinery, Materials and Information Technology Applications PB - Atlantis Press SP - 949 EP - 954 SN - 2352-538X UR - https://doi.org/10.2991/icmmita-16.2016.175 DO - 10.2991/icmmita-16.2016.175 ID - Cheng2017/01 ER -