Global Navigation Satellite Systems (ENC-GNSS) 2009
This contribution presents a tightly coupled sensor fusion technique in order to enhance the accuracy and dynamics of a local positioning system. Redundant measurements are processed to achieve the most precise pose information (position and attitude) of a highly dynamic maneuvering target. A sigma-point Kalman filter is used for the sensor fusion process where attention has been laid on a robust initialization in order to guarantee reliable functionality of the real-time sensor fusion system. Therefore, an iterative reweighted least squares (IRLS) parameter estimator has been developed. To verify the theoretical results, measurements are taken of a remote controlled buggy.