New Vehicle Positioning Method Based on RMINS/KC and Robust Adaptive KF
IEEE Sensors Journal（2018）
Abstract
Aiming at the characteristics of vehicle positioning, a new vehicle positioning method based on the rotation modulation (RM) technology, kinematic constraint (KC), and the robust adaptive Kalman filter (RAKF) is proposed. On the one hand, on the basis of RM inertial navigation system and KC, this method achieves the whitening of colored measurement noise by improving the measurement equation; on t...
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Key words
Modulation,Navigation,Mathematical model,Kalman filters,Gyroscopes,Sensor phenomena and characterization
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