Integrated MEMS-Based IMU/GPS navigation system for motion dynamical vehicles | ||||
The International Conference on Electrical Engineering | ||||
Article 83, Volume 6, 6th International Conference on Electrical Engineering ICEENG 2008, May 2008, Page 1-18 PDF (1.03 MB) | ||||
Document Type: Original Article | ||||
DOI: 10.21608/iceeng.2008.34328 | ||||
View on SCiNiTO | ||||
Authors | ||||
Hossam M. Hendy1; Y. Z. Elhalwagy1; G. A. Al-Sheikh2 | ||||
1Egyptian Armed Forces. | ||||
2MSA. | ||||
Abstract | ||||
Abstract: Aided navigation system, in particular GPS/INS integrated navigation system, is a growing approach for both civilian and military applications. The availability of low cost MEMS-based inertial sensors aided with GPS dominated enormous research for both land and small airborne vehicle navigation. This paper addresses improving the performance of MEMS-based inertial sensors, for integration with GPS for land vehicle navigation applications, so that it becomes comparable to that of tactical grade sensors. Experimentally, the general performance characteristics of MEMS-based inertial sensors and their variations are investigated. This investigation helps finding a proper algorithm to efficiently model the variation of those performance characteristics. In addition, the problem of the integrated system is discussed and its KALMAN filter formulation is outlined. Such a filter calculates the best estimates for a set of parameters from all data collected up to the processing epoch; and it also can predict the subsequent progress of the process; The basic schemes commonly used for integrating inertial and GPS are given. The paper addresses issues of reducing sources of errors and consequently increases the accuracy of the required measured quantities. An experimental work has been conducted in this study for error modeling characterization for physical low cost IMU. The sensor data required for estimating the error coefficients is obtained using the turntable associated with testing facilities and acquisition system. A strap down inertial navigation (SDINS) algorithms has been carried out and verified using accurately real measurement data. Finally, an integrated GPS/INS system is developed, verified and tested in a field environment. A vehicle test was performed under varying operational conditions. Experimental results show an adequate performance for an in progress project. The performance analysis results are very relevant to system design and platform trajectory. | ||||
Keywords | ||||
INS; GPS; Integrated Navigation; Aided Navigation; Kalman filter | ||||
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