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Proceedings Paper

On-line estimation and compensation of measurement delay in GPS/SINS integration
Author(s): Tao Yang; Wei Wang
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Paper Abstract

The chief aim of this paper is to propose a simple on-line estimation and compensation method of GPS/SINS measurement delay. The causes of time delay for GPS/SINS integration are analyzed in this paper. New Kalman filter state equations augmented by measurement delay and modified measurement equations are derived. Based on an open-loop Kalman filter, several simulations are run, results of which show that by the proposed method, the estimation and compensation error of measurement delay is below 0.1s.

Paper Details

Date Published: 13 October 2008
PDF: 7 pages
Proc. SPIE 7128, Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment, 71282D (13 October 2008); doi: 10.1117/12.806871
Show Author Affiliations
Tao Yang, Beijing Univ. of Aeronautics and Astronautics (China)
Wei Wang, Beijing Univ. of Aeronautics and Astronautics (China)


Published in SPIE Proceedings Vol. 7128:
Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment

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