Type of Document	Master's Thesis
Author	Mayhew, David McNeil
Author's Email Address	dmayhew@vt.edu
URN	etd-062899-064821
Title	Multi-rate Sensor Fusion for GPS Navigation Using Kalman Filtering
Degree	Master of Science
Department	Electrical and Computer Engineering
Advisory Committee	Advisor Name Title Kachroo, Pushkin Committee Chair Ball, Joseph A. Committee Member Bay, John S. Committee Member
Keywords	GPS navigation sensor fusion Kalman filtering
Date of Defense	1999-04-18
Availability	unrestricted
Abstract With the advent of the Global Position System (GPS), we now have the ability to determine absolute position anywhere on the globe. Although GPS systems work well in open environments with no overhead obstructions, they are subject to large unavoidable errors when the reception from some of the satellites is blocked. This occurs frequently in urban environments, such as downtown New York City. GPS systems require at least four satellites visible to maintain a good position ‘fix’. Tall buildings and tunnels often block several, if not all, of the satellites. Additionally, due to Selective Availability (SA), where small amounts of error are intentionally introduced, GPS errors can typically range up to 100 ft or more. This thesis proposes several methods for improving the position estimation capabilities of a system by incorporating other sensor and data technologies, including Kalman filtered inertial navigation systems, rule-based and fuzzy-based sensor fusion techniques, and a unique map-matching algorithm.
Files	Filename       Size       Approximate Download Time (Hours:Minutes:Seconds)     28.8 Modem   56K Modem   ISDN (64 Kb)   ISDN (128 Kb)   Higher-speed Access    etd.PDF 1.14 Mb 00:05:17 00:02:43 00:02:22 00:01:11 00:00:06

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