Conference paper

Pavelková L., Nagy I.

Abstract of Contributions to 5th International Workshop on Data-Algorithms-Decision Making

ÚTIA AVČR v.v.i

Praha

2009

Ing. Lenka Pavelková, Ph.D. (ÚTIA - Oddělení adaptivních systémů)

vehicle attitude, state model, smoothing, Kalman filtering

The attitude of a moving vehicle is determined by means of global positioning system (GPS) but the data set is incomplete. We aim to estimate the attitude within the GPS data fallouts. For this purpose, we can use an information from the inertial navigation system (INS) that includes a complete noisy information about vehicle velocity, yaw rate and acceleration. We focus on the off-line attitude estimation. We construct a state model describing the vehicle motion. It exploits a dependency among the vehicle attitude, velocity and acceleration. The estimation algorithm is based on the Kalman filtering and smoothing.