谁有A High Integrity IMU/GPS Navigation Loop for Autonomous Land Vehicle Applica这篇文章的翻译?

谁有A High Integrity IMU/GPS Navigation Loop for Autonomous Land Vehicle Applica这篇文章的翻译?
谁有A High Integrity IMU/GPS Navigation Loop for Autonomous Land Vehicle Applica这篇文章的翻译?

谁有A High Integrity IMU/GPS Navigation Loop for Autonomous Land Vehicle Applica这篇文章的翻译?
A High Integrity IMU/GPS Navigation Loop for Autonomous Land Vehicle Applications Salah Sukkarieh,Eduardo M.Nebot,and Hugh F.Durrant-Whyte Abstract?This paper describes the development and implementation of a high integrity navigation system,based on the combined use of the Global Positioning System (GPS) and an inertial measurement unit (IMU),for autonomous land vehicle applications.The paper focuses on the issue of achieving the integrity required of the navigation loop for use in autonomous systems.The paper highlights the detection of possible faults both before and during the fusion process in order to enhance the integrity of the navigation loop.The implementation of this fault detection methodology considers both low frequency faults in the IMU caused by bias in the sensor readings and the misalignment of the unit,and high frequency faults from the GPS receiver caused by multipath errors.The implementation,based on a low-cost,strapdown IMU,aided by either standard or carrier phase GPS technologies,is described.Results of the fusion process are presented.Index Terms?Autonomous systems,global positioning system,inertial measurement unit,Kalman lter,navigation.
阿高完整性弹载IMU / GPS导航自主车辆闭环应用萨拉赫Sukkarieh,爱德华多米Nebot,和休楼达兰特-怀特摘要?本文描述了一个完整的高导航系统开发和实施的基础上,结合使用全球定位系统（GPS）和惯性测量单元（IMU）的自主车辆的申请.本文的重点是实现了自治系统中循环使用的导航所需的诚信问题.该文件强调之前和期间的融合过程中可能的故障检测,以提高导航回路完整性.这种故障检测方法的执行认为无论是在低频故障由惯性测量装置中的传感器读数偏差和错位的单位,并从多路径误差造成的GPS接收机高频故障引起的.该实现的基础上,低成本,捷联惯性测量装置,通过标准的或载波相位的GPS技术辅助,是描述.融合过程结果.指数条款?自治系统,全球定位系统,惯性测量单元,卡尔曼?滤波器,导航.