Title page for ETD etd-062899-064821

Type of Document Master's Thesis
Author Mayhew, David McNeil
Author's Email Address dmayhew@vt.edu
URN etd-062899-064821
Title Multi-rate Sensor Fusion for GPS Navigation Using Kalman Filtering
Degree Master of Science
Department Electrical and Computer Engineering
Advisory Committee
Advisor Name Title
Kachroo, Pushkin Committee Chair
Ball, Joseph A. Committee Member
Bay, John S. Committee Member
  • GPS
  • navigation
  • sensor fusion
  • Kalman filtering
Date of Defense 1999-04-18
Availability unrestricted
With the advent of the Global Position System (GPS), we now have the ability to

determine absolute position anywhere on the globe. Although GPS systems work well in

open environments with no overhead obstructions, they are subject to large unavoidable

errors when the reception from some of the satellites is blocked. This occurs frequently in

urban environments, such as downtown New York City. GPS systems require at least

four satellites visible to maintain a good position ‘fix’. Tall buildings and tunnels often

block several, if not all, of the satellites. Additionally, due to Selective Availability (SA),

where small amounts of error are intentionally introduced, GPS errors can typically range

up to 100 ft or more. This thesis proposes several methods for improving the position

estimation capabilities of a system by incorporating other sensor and data technologies,

including Kalman filtered inertial navigation systems, rule-based and fuzzy-based sensor

fusion techniques, and a unique map-matching algorithm.

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