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Simple GPS INS sensor fusion algorithm?

Posted by Robert S. on March 24, 2014 at 3:37pm

Hey, does anyone know a simple algorithm for fusing GPS (position (and maybe velocity)) with INS (accelerometer) data? I say simple because the Extended Kalman filter articles I see all over the place are all to hard for my brain to comprehend. 

I've implemented a DCM matrix complementary filter for attitude sensor fusion, and it's working great. But now I'm looking at position information, and I'm worried that reading GPS data at between 1hz - 5hz seems a little slow (plus I made a post here: http://diydrones.com/forum/topics/can-t-change-baud-rate-on-ublox-gps  about how I can't change the baud rate on my Ublox GPS, so reading the GPS data is relatively slow as well).

I'm looking for something that explains the theoretical aspects of the sensor fusion algorithm as well as provides code examples so I can relate the theory to practice.

Thanks!

Rick

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Replies

  • Jeff Barton March 24, 2014 at 4:33pm

    Rick, try the article "Fundamentals of Small Unmanned Aircraft Flight" linked here:  http://diydrones.com/profiles/blogs/fundamentals-of-small-unmanned-...

     

    The article covers both the DCM matrix method as well as Kalman FIlter approaches to UAV state estimation.  I wrote it with this community in mind, so hopefully you may find it useful. 

    • Robert S. > Jeff Barton March 25, 2014 at 5:30pm

      Excellent article! Thanks! I wish I had this two years ago :)

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