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....
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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World Scientific Publishing
2010
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| Online Access: | http://psasir.upm.edu.my/id/eprint/13676/ http://psasir.upm.edu.my/id/eprint/13676/1/Comparative%20study%20on%20wavelet%20filter%20and%20thresholding%20selection%20for%20GPS.pdf |
| _version_ | 1848842177683128320 |
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| author | Hasan, Ahmed M. Samsudin, Khairulmizam Ramli, Abdul Rahman Raja Abdullah, Raja Syamsul Azmir |
| author_facet | Hasan, Ahmed M. Samsudin, Khairulmizam Ramli, Abdul Rahman Raja Abdullah, Raja Syamsul Azmir |
| author_sort | Hasan, Ahmed M. |
| building | UPM Institutional Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-15T07:54:59Z |
| format | Article |
| id | upm-13676 |
| institution | Universiti Putra Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T07:54:59Z |
| publishDate | 2010 |
| publisher | World Scientific Publishing |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | upm-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 |
| 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 |
| title | 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_short | 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 |
| url | http://psasir.upm.edu.my/id/eprint/13676/ http://psasir.upm.edu.my/id/eprint/13676/ http://psasir.upm.edu.my/id/eprint/13676/ http://psasir.upm.edu.my/id/eprint/13676/1/Comparative%20study%20on%20wavelet%20filter%20and%20thresholding%20selection%20for%20GPS.pdf |