Role of GPS for Kalman Filter
Hello all,
I am new to the world of sensor fusion and Kalman filters and especially working with GPS. I am trying to build a precise position reference package comprising a GPS module ( yet to be finalized, suggestions are welcome), accelerometers, gyroscopes, and magnetometers. The idea is to interface all of these with a Pi and run a sensor fusion (Kalman filter ) script to fuse all of these data to get a Lat, long, and True North, East, and Down.
I am trying to achieve a cm level precision. The package will be flying on a balloon about ~30 km up in the stratosphere. I have talked to a few GPS companies that provide correctional services (RTK) at such altitudes but I am not sure if that kind of investment is worth it. Basically, I am trying to understand the contribution of a good GPS toward the Kalman Filter.
Any help would be appreciated!
Thanks,
Mayukh
Mayukh Bagchi (He/Him), MSc
Graduate Student
Department of Physics, Engineering Physics, and Astronomy
mayukh.bagchi@queensu.camailto:mayukh.bagchi@queensu.ca
[Queen's University Logo]https://www.queensu.ca/
Hi
Do you need cm level precision real time or after the fact? If you can tolerate an
“after the fact” solution, then NRCan is your new best friend. Record the GPS data
and ship it off to them. They process it for free and back comes a very accurate
answer.
There are a number of things that get into the “just how accurate is that?”. If post
processing is ok, they can be investigated. If this has to be real time then it’s off
the list.
You still would need to do some work to get north, east, and down.
Bob
On Feb 2, 2023, at 2:13 PM, Mayukh Bagchi via time-nuts time-nuts@lists.febo.com wrote:
Hello all,
I am new to the world of sensor fusion and Kalman filters and especially working with GPS. I am trying to build a precise position reference package comprising a GPS module ( yet to be finalized, suggestions are welcome), accelerometers, gyroscopes, and magnetometers. The idea is to interface all of these with a Pi and run a sensor fusion (Kalman filter ) script to fuse all of these data to get a Lat, long, and True North, East, and Down.
I am trying to achieve a cm level precision. The package will be flying on a balloon about ~30 km up in the stratosphere. I have talked to a few GPS companies that provide correctional services (RTK) at such altitudes but I am not sure if that kind of investment is worth it. Basically, I am trying to understand the contribution of a good GPS toward the Kalman Filter.
Any help would be appreciated!
Thanks,
Mayukh
Mayukh Bagchi (He/Him), MSc
Graduate Student
Department of Physics, Engineering Physics, and Astronomy
mayukh.bagchi@queensu.camailto:mayukh.bagchi@queensu.ca
[Queen's University Logo]https://www.queensu.ca/
time-nuts mailing list -- time-nuts@lists.febo.com
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On 2/2/23 11:13 AM, Mayukh Bagchi via time-nuts wrote:
Hello all,
I am new to the world of sensor fusion and Kalman filters and especially working with GPS. I am trying to build a precise position reference package comprising a GPS module ( yet to be finalized, suggestions are welcome), accelerometers, gyroscopes, and magnetometers. The idea is to interface all of these with a Pi and run a sensor fusion (Kalman filter ) script to fuse all of these data to get a Lat, long, and True North, East, and Down.
I am trying to achieve a cm level precision. The package will be flying on a balloon about ~30 km up in the stratosphere. I have talked to a few GPS companies that provide correctional services (RTK) at such altitudes but I am not sure if that kind of investment is worth it. Basically, I am trying to understand the contribution of a good GPS toward the Kalman Filter.
One important question - do you need precise location in real time, or
is post processing later sufficient?
The other important question is for the attitude information - how
precise? arc seconds? degrees? 1 radian? - and again, post processing,
or in real time.
U-Blox has GPS/IMU modules that have a built in 9-axis IMU and positioning
system. Check out the NEO-M9V. No need to build your own, unless that's
part of the goal.
It does have dynamic models tuned to cars, motorcycles, or electric bikes.
No balloon model. I think you could still get a basic sensor fusion though.
On Thu, Feb 2, 2023 at 11:52 AM Mayukh Bagchi via time-nuts <
time-nuts@lists.febo.com> wrote:
Hello all,
I am new to the world of sensor fusion and Kalman filters and especially
working with GPS. I am trying to build a precise position reference package
comprising a GPS module ( yet to be finalized, suggestions are welcome),
accelerometers, gyroscopes, and magnetometers. The idea is to interface all
of these with a Pi and run a sensor fusion (Kalman filter ) script to fuse
all of these data to get a Lat, long, and True North, East, and Down.
I am trying to achieve a cm level precision. The package will be flying on
a balloon about ~30 km up in the stratosphere. I have talked to a few GPS
companies that provide correctional services (RTK) at such altitudes but I
am not sure if that kind of investment is worth it. Basically, I am trying
to understand the contribution of a good GPS toward the Kalman Filter.
Any help would be appreciated!
Thanks,
Mayukh
Mayukh Bagchi (He/Him), MSc
Graduate Student
Department of Physics, Engineering Physics, and Astronomy
mayukh.bagchi@queensu.camailto:mayukh.bagchi@queensu.ca
[Queen's University Logo]https://www.queensu.ca/
time-nuts mailing list -- time-nuts@lists.febo.com
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