The International Association for Automation and Robotics in Construction
Publications / 2008 Proceedings of the 25th ISARC, Vilnius, Lituania
Indoor Heading Measurement System
Pages 373-378 (2008 Proceedings of the 25th ISARC, Vilnius, Lituania, ISBN 978-9955-28-304-1, ISSN 2413-5844)
Abstract:
This paper analyses iGPS as stand alone system for vehicle heading measurement and presents iGPS and gyro fusion algorithm based on Kalman filter. This solution has advantage of reduced heading measurement delay, higher measurement update ratio and also increased resistance to iGPS outage, which makes it more suitable for indoor and outdoor precise navigation.
Keywords: Heading measurement, Kalman filter, indoor GPS