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Research Papers

Multi-sensor data fusion for land vehicle attitude estimation using a fuzzy expert system

Authors
  • Jau-Hsiung Wang
  • Yang Gao

Abstract

In Inertial Navigation Systems (INS), the attitude estimated from gyro measurements by the Kalman filter is subject to an unbound error growth during the stand-alone mode, especially for land vehicle applications using low-cost sensors. To improve the attitude estimation of a land vehicle, this paper applies a fuzzy expert system to assist in multi-sensor data fusion from MEMS accelerometers, MEMS gyroscopes and a digital compass based on their complementary motion detection characteristics. Field test results have shown that drift-free and smooth attitude estimation can be achieved and will lead to a significant performance improvement for velocity and position estimation.
Year: 2005
Volume 4
Page/Article: 127-139
DOI: 10.2481/dsj.4.127
Published on Jan 5, 2006
Peer Reviewed