OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

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 May 2004 - 21 May 2004 (Montréal, Canada).

(Document in English)

PDF (Publisher's version) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader


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
HAL Id:hal-04038861
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
Other partners > Laboratoire de recherche en télécommunications spatiales et aéronautiques - TéSA (FRANCE)
Laboratory name:
Deposited On:19 Oct 2009 13:21

Repository Staff Only: item control page