TY - GEN
T1 - Non-linear, non-Gaussian estimation for improving position and orientation determination in mobile mapping system
AU - Duong, Thanh Trung
AU - Chiang, Kai Wei
PY - 2011
Y1 - 2011
N2 - In a mobile mapping system, the integration of Inertial Navigation System (INS) and Global Positioning System (GPS) is widely applied for determining position and orientation. The Kalman filter or Extended Kalman Filter (EKF) is popularly used for data fusion estimation. In such those estimation strategies, linearization and assuming Gaussian distribution are utilized. However, the fact that the system model and measurement model in INS/GPS integration are originally non-linear and the noise arising during operation may be non-Gaussian distribution. These characteristics may leads to the low performance of the system utilizing KF or EKF in case of highly non-linear model and non-Gaussian noises. This paper investigates on some of non-linear, non-Gaussian estimation strategies in order to improve the performance of the system.
AB - In a mobile mapping system, the integration of Inertial Navigation System (INS) and Global Positioning System (GPS) is widely applied for determining position and orientation. The Kalman filter or Extended Kalman Filter (EKF) is popularly used for data fusion estimation. In such those estimation strategies, linearization and assuming Gaussian distribution are utilized. However, the fact that the system model and measurement model in INS/GPS integration are originally non-linear and the noise arising during operation may be non-Gaussian distribution. These characteristics may leads to the low performance of the system utilizing KF or EKF in case of highly non-linear model and non-Gaussian noises. This paper investigates on some of non-linear, non-Gaussian estimation strategies in order to improve the performance of the system.
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M3 - Conference contribution
AN - SCOPUS:84865701857
SN - 9781618394972
T3 - 32nd Asian Conference on Remote Sensing 2011, ACRS 2011
SP - 698
EP - 703
BT - 32nd Asian Conference on Remote Sensing 2011, ACRS 2011
T2 - 32nd Asian Conference on Remote Sensing 2011, ACRS 2011
Y2 - 3 October 2011 through 7 October 2011
ER -