On-line estimation and compensation of measurement delay in GPS/SINS integration

Tao Yang; Wei Wang

doi:10.1117/12.806871

13 October 2008 On-line estimation and compensation of measurement delay in GPS/SINS integration

Tao Yang, Wei Wang

Proceedings Volume 7128, Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment; 71282D (2008) https://doi.org/10.1117/12.806871
Event: Seventh International Symposium on Instrumentation and Control Technology, 2008, Beijing, China

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.

Citation Download Citation

Tao Yang and Wei Wang "On-line estimation and compensation of measurement delay in GPS/SINS integration", Proc. SPIE 7128, Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment, 71282D (13 October 2008); https://doi.org/10.1117/12.806871

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