Hi there,

I'm working on a low cost integrated INS/GPS navigation system (fo

automotive applications).I use only 1 2D accelerometer and a GP

receiver.

This is my system model (2D movement):

x(k) = Ax(k) + Bu(k) + w

z(k) = Hx(k) + v

Where:

x(k)=[sx sy vx vy] (sx = position along x axis, sy = position along

axis, vx = velocity along x axis, vy = velocity along y axis).

u(k)=[ax ay] (ax = acceleration along x axis, ay = acceleration along

axis), this is the output of the gyros.

z(k)= GPS measurements (position along x and y).

A=[1 0 T 0; 0 1 0 T; 0 0 1 0; 0 0 0 1];

B=[T^2/2 0; 0 T^2/2; T 0; 0 T];

H=[1 0 0 0; 0 1 0 0];

T= sampling time;

I've some problems in filter tuning, do you have some suggestions on ho

can I evaluate Q and R matrix?

Thanks and sorry for my english ^_^

You might also wish to ask on sci.geo.satellite-nav

This would be the place for the math.

sci.geo.satellite-nav has some developers who read the group. It has a

strong end user emphasis now, but it's original intent was to serve

developers.

I know little of either field, but am fascinated by both.

BTW, your English is fine. I know many high school and college

instructors that wish their native English speaking students were as fluent.

For perspective, ~50 years ago while vacationing in northern Ontario,

Canada [a predominately French speaking area], our host asked me to

borrow something from a neighbor. I tried out my French. I was asked to

speak English as it was much more recognizable than my French ;\

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