Real time IMU Simulator for Integrated Navigation Systems | ||||
| The International Conference on Electrical Engineering | ||||
| Article 68, Volume 7, 7th International Conference on Electrical Engineering ICEENG 2010, May 2010, Page 1-19 PDF (634.17 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/iceeng.2010.33045 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| M. Abozead1; Y. Z. Elhalwagy1; G. A. Elshikh2; I. A. Abd-El-Dayem1 | ||||
| 1Egyptian Armed Forces. | ||||
| 2SVA, Cairo, Egypt. | ||||
| Abstract | ||||
| Abstract: Nowadays, the integration of INS with GPS leads to many applications, mainly driven by the development of low-cost MEMS sensors. Then, it is not surprising that great interest has been generated toward low cost inertial sensors in the last decade. Although the basic principles of INS are quite simple, the analysis of its performance and the impact of sensor quality on the overall result are quite complex. In fact, one particular aspect of INS design is the complexity to evaluate new algorithms and innovative digital signal processing with various sensors and to access their performances in function of several kinds of mobile trajectories. Therefore, as most engineering applications, the simulation can be considered an important step to implement INS/GPS integration algorithms. Therefore, this paper exploits a simulation platform for INS/GPS integrated systems. It consists of a trajectory generator, GPS simulator; IMU simulator, and optimal estimation engine. Kalman filter algorithm plays a major role in the proposed platform. It is utilized in loosely coupled architecture as the core of optimal estimation engine, inertial sensor error models, and INS mechanizations. It also provides the facility to give a real time test. The proposed platform can be regarded as a cost-effect tool to study the techniques concerning INS/GPS integrated system. It can be used for research as well as education purposes. Several practical issues concerning the implementation of INS/GPS integration algorithms are discussed to demonstrate the capability of proposed platform. | ||||
| Keywords | ||||
| Real Time Simulators; Inertial Navigation Systems; GPS/INS integration | ||||
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