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Hybrid Gps for Land Vehicle
Published September 26, 1995 by Society of Automotive Engineers of Japan in Japan
Event: JSAE Autumn Conference
Simple Kalman filter model is described for the hybrid GPS system which includes GPS receiver, strapdown vibration gyro and conventional speed sensor for the speed meter. Four dimensional state vector X = [Δx Δy Δz cΔt]T enable us to consider the effect of constellation of satellites, SVACC and dead reckoning (DR) sensors' error. To prevent covariance matrix from becoming too small during iteration, multiplied factor k has been introduced in our hybrid GPS system