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Authors: Seong Cho 1 ; Chang Kang 2 and Kyung Shin 3

Affiliations: 1 Department of Robotics Engineering, Kyungil University, Gyeongsan and South Korea ; 2 Research Institute of Engineering and Technology, Korea University, Seoul and South Korea ; 3 Railroad Control & Communication Research Team, Korea Railroad Research Institute, Uiwang and South Korea

ISBN: 978-989-758-380-3

Keyword(s): INS/GPS, Train Application, Kalman Filter, Observability, RMSE.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Robotics and Automation

Abstract: This paper aims to analyse the navigation performance that can be provided by the navigation system when applying the INS/GPS integrated navigation system to the train. The performance of the Kalman filter integrating INS and GPS can be summarized by the integrity of the measurement and the observability of the filter. Assuming the integrity of the GPS information used as a measurement is always satisfied, the performance of the filter can eventually be analysed by the observability. The observability of the filter depends on the dynamic trajectory of the train. Because the train has a non-holonomic constraint and one-dimensional motion, the filter design and the performance analysis are carried out considering this. We analyse the observability of the filter through simulation and explain the limit of the filter and the flaw of the observability. We also analyse the reliability of the navigation system and present additional research directions.

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Paper citation in several formats:
Cho, S.; Kang, C. and Shin, K. (2019). Reliability Analysis of the Kalman Filter for INS/GPS Integrated Navigation System Applied to Train.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 237-242. DOI: 10.5220/0007832602370242

@conference{icinco19,
author={Seong Yun Cho. and Chang Ho Kang. and Kyung Ho Shin.},
title={Reliability Analysis of the Kalman Filter for INS/GPS Integrated Navigation System Applied to Train},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={237-242},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007832602370242},
isbn={978-989-758-380-3},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Reliability Analysis of the Kalman Filter for INS/GPS Integrated Navigation System Applied to Train
SN - 978-989-758-380-3
AU - Cho, S.
AU - Kang, C.
AU - Shin, K.
PY - 2019
SP - 237
EP - 242
DO - 10.5220/0007832602370242

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