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Comparative study on wavelet filter and thresholding selection for GPS/INS data fusion

Navigation and guidance of an autonomous vehicle require determination of the position and velocity of the vehicle. Therefore, fusing the Inertial Navigation System (INS) and Global Positioning System (GPS) is important. Various methods have been applied to smooth and predict the INS and GPS errors....

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Main Authors: Hasan, Ahmed M., Samsudin, Khairulmizam, Ramli, Abdul Rahman, Raja Abdullah, Raja Syamsul Azmir
Format: Article
Language:English
Published: World Scientific Publishing 2010
Online Access:http://psasir.upm.edu.my/id/eprint/13676/1/Comparative%20study%20on%20wavelet%20filter%20and%20thresholding%20selection%20for%20GPS.pdf
http://psasir.upm.edu.my/id/eprint/13676/
http://www.worldscientific.com/doi/abs/10.1142/S0219691310003572
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spelling my.upm.eprints.136762015-09-14T08:20:33Z http://psasir.upm.edu.my/id/eprint/13676/ Comparative study on wavelet filter and thresholding selection for GPS/INS data fusion Hasan, Ahmed M. Samsudin, Khairulmizam Ramli, Abdul Rahman Raja Abdullah, Raja Syamsul Azmir Navigation and guidance of an autonomous vehicle require determination of the position and velocity of the vehicle. Therefore, fusing the Inertial Navigation System (INS) and Global Positioning System (GPS) is important. Various methods have been applied to smooth and predict the INS and GPS errors. Recently, wavelet de-noising methodologies have been applied to improve the accuracy and reliability of the GPS/INS system. In this work, analysis of real data to identify the optimal wavelet filter for each GPS and INS component for high quality error estimation is presented. A comprehensive comparison of various wavelet thresholding selections with different level of decomposition is conducted to study the effect on GPS/INS error estimation while maintaining the original features of the signal. Results show that while some wavelet filters and thresholding selection algorithms perform better than others on each of the GPS and INS components, no specific parameter selection perform uniformly better than others. World Scientific Publishing 2010-05 Article PeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/13676/1/Comparative%20study%20on%20wavelet%20filter%20and%20thresholding%20selection%20for%20GPS.pdf Hasan, Ahmed M. and Samsudin, Khairulmizam and Ramli, Abdul Rahman and Raja Abdullah, Raja Syamsul Azmir (2010) Comparative study on wavelet filter and thresholding selection for GPS/INS data fusion. International Journal of Wavelets, Multiresolution and Information Processing, 8 (3). pp. 457-473. ISSN 0219-6913; ESSN: 1793-690X http://www.worldscientific.com/doi/abs/10.1142/S0219691310003572 10.1142/S0219691310003572
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
language English
description Navigation and guidance of an autonomous vehicle require determination of the position and velocity of the vehicle. Therefore, fusing the Inertial Navigation System (INS) and Global Positioning System (GPS) is important. Various methods have been applied to smooth and predict the INS and GPS errors. Recently, wavelet de-noising methodologies have been applied to improve the accuracy and reliability of the GPS/INS system. In this work, analysis of real data to identify the optimal wavelet filter for each GPS and INS component for high quality error estimation is presented. A comprehensive comparison of various wavelet thresholding selections with different level of decomposition is conducted to study the effect on GPS/INS error estimation while maintaining the original features of the signal. Results show that while some wavelet filters and thresholding selection algorithms perform better than others on each of the GPS and INS components, no specific parameter selection perform uniformly better than others.
format Article
author Hasan, Ahmed M.
Samsudin, Khairulmizam
Ramli, Abdul Rahman
Raja Abdullah, Raja Syamsul Azmir
spellingShingle Hasan, Ahmed M.
Samsudin, Khairulmizam
Ramli, Abdul Rahman
Raja Abdullah, Raja Syamsul Azmir
Comparative study on wavelet filter and thresholding selection for GPS/INS data fusion
author_facet Hasan, Ahmed M.
Samsudin, Khairulmizam
Ramli, Abdul Rahman
Raja Abdullah, Raja Syamsul Azmir
author_sort Hasan, Ahmed M.
title Comparative study on wavelet filter and thresholding selection for GPS/INS data fusion
title_short Comparative study on wavelet filter and thresholding selection for GPS/INS data fusion
title_full Comparative study on wavelet filter and thresholding selection for GPS/INS data fusion
title_fullStr Comparative study on wavelet filter and thresholding selection for GPS/INS data fusion
title_full_unstemmed Comparative study on wavelet filter and thresholding selection for GPS/INS data fusion
title_sort comparative study on wavelet filter and thresholding selection for gps/ins data fusion
publisher World Scientific Publishing
publishDate 2010
url http://psasir.upm.edu.my/id/eprint/13676/1/Comparative%20study%20on%20wavelet%20filter%20and%20thresholding%20selection%20for%20GPS.pdf
http://psasir.upm.edu.my/id/eprint/13676/
http://www.worldscientific.com/doi/abs/10.1142/S0219691310003572
_version_ 1643825401962692608
score 13.211869

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