Integrated MEMS-Based IMU/GPS navigation system for motion dynamical vehicles

Document Type : Original Article

Authors

1 Egyptian Armed Forces.

2 MSA.

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.

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