E3S Web Conf.
Volume 297, 2021The 4th International Conference of Computer Science and Renewable Energies (ICCSRE'2021)
|Number of page(s)||10|
|Published online||22 September 2021|
A low-cost IMU/GPS position accuracy experimental study using extended kalman filter data fusion in real environments
Smart Communications Research Team - (SCRT), Mohammadia School of Engineers (EMI), Mohammed V University in Rabat (UM5R), Morocco
In a three-dimensional environment, the navigation of a vehicle in airspace, terrestrial space, or maritime space presents complex aspects concerning the determination of its position, its orientation, and the stability of the processing of the asynchronous data coming from the various sensors during navigation. In this context, this paper presents an experimental analysis of the position accuracy estimated by a low-cost inertial measurement unit coupled, by the extended Kalman data fusion algorithm, with a system of absolute measurements of a positioning system received from a GPS which designates the global positioning system. The different scenarios of the experimental study carried out during this work concerned three tests in a real environment, such as the navigation in a course inside the city of Rabat/Morocco with a moderate speed, a section on the highway at a speed of 120 Km/h and a circular path around a roundabout. The experimental results proved that the low-cost sensors studied are a good candidate for civil navigation applications.
© The Authors, published by EDP Sciences, 2021
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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