I'm working on a low cost integrated INS/GPS navigation system (fo
automotive applications).I use only 1 2D accelerometer and a GP
This is my system model (2D movement):
x(k) = Ax(k) + Bu(k) + w
z(k) = Hx(k) + v
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 ^_^