Moving Horizon Estimation for GNSS-IMU sensor fusion

MURILLO, M.; DENIZ, N AND L GIOVANINI; SANCHEZ G; GENZELIS, L.

Cordoba

Jornada; IX Jornadas Argentinas de Robótica; 2017

Universidad Tecnologica Nacional, Facultad Regional Córdoba

Abstract?The aim of this work is to develop a Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU) sensor fusion system. To achieve this objective, we introduce a Moving Horizon Estimation (MHE) algorithm to estimate the position, velocity orientation and also the accelerometer and gyroscope bias of a simulated unmanned ground vehicle. The obtained results are compared with the true values of the system and with an Extended Kalman filter (EKF). The use of CasADiand Ipopt provide efficient numerical solvers that can obtain fast  solutions. The quality of MHE estimated values enable us to consider MHE as a viable replacement for the popular Kalman Filter, even on real time systems.