On-line estimation and compensation of measurement delay in GPS/SINS integration
Tao Yang, Wei Wang · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2008
The chief aim of this paper is to propose a simple on-line estimation and compensation method of GPS/SINS measurement delay. The causes of time delay for GPS/SINS integration are analyzed in this paper. New Kalman filter state equations augmented by measurement delay and modified measurement equations are derived. Based on an open-loop Kalman filter, several simulations are run, results of which show that by the proposed method, the estimation and compensation error of measurement delay is below 0.1s.