Abstract und Zusammenfassung zu
"Kalman Filter for Improvement of an Underwater Inertial Navigation System"
(Kalman Filter zur Verbesserung eines Unterwasser- Trägheits- Navigationssystems)

Vorlesung


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Zusammenfassung

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Abstract

"Inertial navigation systems are often integrated with other systems, which offer an external reference, in order to make reliable the estimation of position. However, underwater, it is not possible to use GPS but is possible to use the direction of the magnetic field and the depth as an external reference. There is already an algorithm based on low cost MEMS as IMU, which offers a strategy for calibration, initialization and alignment. These are done in static conditions. Moreover, this algorithm uses the depth as a reference for acceleration's error correction in motion. The thesis proposes a strategy to correct the gyroscope's error in motion. This error is classified as zero mean random error, which is called random walk. The proposed correction is done by integrating the Inertial Measurement and direction of the magnetic field using kalman filtering. Simulation with constructed data has been done to verify the algorithm of rotation in motion and experiments with real data. Furthermore, a strategy is presented to compensate the problem of the magnetic field disturbance due to an external magnetic source."

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