TY - JOUR
AU - Chong, Kil To
AB - Abstract An efficient approach for deriving accurate pose and heading values through multi-sensor fusion of data from several inexpensive sensors (such as multiple GPS (Global Positioning Systems), EC (electronic compass), rate gyro) is presented. The proposed multisensor fusion approach is composed of several sub-methods namely initial heading calculation, classification and weighing (CnW), extended Kalman filter (EKF) and then covariance intersection (CI) algorithms. The consecutive implementation of the sub-methods gives an accurate heading value with lesser RMSE (root mean square error) compared to the original GPS COG (course over ground) and EC. Several experimental tests were done to confirm the good performance of the proposed process.
TI - Design of an EKF-CI based sensor fusion for robust heading estimation of marine vehicle
JF - "International Journal of Precision Engineering and Manufacturing"
DO - 10.1007/s12541-015-0054-9
DA - 2015-02-01
UR - https://www.deepdyve.com/lp/springer-journals/design-of-an-ekf-ci-based-sensor-fusion-for-robust-heading-estimation-3u3kg8hEuv
SP - 403
EP - 407
VL - 16
IS - 2
DP - DeepDyve
ER -