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A rao-blackwellized particle filter for INS/GPS integration

Giremus, Audrey and Doucet, Arnaud and Calmettes, Vincent and Tourneret, Jean-Yves A rao-blackwellized particle filter for INS/GPS integration. (2004) In: IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP 2004), 17-21 May 2004, Montréal, Canada .

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Abstract

The localization performance of a navigation system can be improved by coupling different types of sensors. This paper focuses on INS-GPS integration. INS and GPS measurements allow to dene a non-linear state space model, which is appropriate to particle ltering. This model being conditionally linear Gaussian, a Rao-Blackwellization procedure can be applied to reduce the variance of the estimates.

Item Type:Conference or Workshop Item (Paper)
Additional Information:This paper appears in: Acoustics, Speech, and Signal Processing, 2004. Proceedings. (ICASSP '04). IEEE International Conference on Publication Date: 17-21 May 2004 Volume: 3 On page(s): iii - 964-7 vol.3 ISSN: 1520-6149 ISBN: 0-7803-8484-9
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National des Etudes Spatiales - CNES
Université de Toulouse > Ecole Nationale de l'Aviation Civile - ENAC
Université de Toulouse > Institut National Polytechnique de Toulouse - INPT
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE
Other partners > Rockwell Collins (FRANCE)
Other partners > Thales (FRANCE)
Other partners > Telecom ParisTech (FRANCE)
Université de Toulouse > Université Paul Sabatier-Toulouse III - UPS
Université de Toulouse > Université de Toulouse II-Le Mirail - UTM
Université de Toulouse > Université de Toulouse I-Sciences Sociales - UT1
Laboratory name:
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Deposited By: Cécile de_roquemaurel
Deposited On:19 Oct 2009 13:21

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