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POProjection Problem in Kalman Filter for Navigation
 

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    <p>I am currently working on a simple and small Kalman-Filter for GPS-Navigation. I am getting from my GPS-Sensor the current location, course angle and speed. So the Kalman-Filter should fuse the current measurement and the linear movement beginning from the previous location assuming constant speed and course-angle.</p> <p>My problem is to select a useful space where the Kalman-Filter is able to perform in a good way. </p> <p>Local coordinate system approach:</p> <p>If I choose a local coordinate system (north [meter], east [meter]) with the previous location at origin I will be able to predict the new location easily but how to convert the new measurement (latitude/longitude) into my local coordinate system using the wgs-84 ellipsoid? and how to convert my new predicted in my local coordinate system to latitude/longitude also using the wgs-84 ellipsoid?</p> <p>So I need two functions:</p> <p>f:=(lat_ref, lng_ref, lat, lng) -> (x,y)</p> <p>g:=(lat_ref, lng_ref, x, y) -> (lat, lng) (this could by also done using <a href="http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf">Vincenty</a>)</p> <p>Global coordinate system approach:</p> <p>I found the <a href="http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf">Vincenty-Algorithm</a> which calculates the new location from a reference location, distance and course-angle on any ellipsoid. This algorithm works fine but I dont see how to use this algorithm inside a kalman-filter which works in a global coordinate system.</p> <p>Are there any ideas or suggestions how to solve one of my problems?</p>
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