GPS/MEMS INS integrated system for navigation in urban areas

Abstract

This paper evaluates the performance of a tightly coupled GPS/INS integrated system based on low cost MEMS IMUs in dense urban areas, and investigates two different methods to improve its performance. The first method used is to derive observations from two different constraint equations reflecting the behavior of a typical land vehicle. The first constraint equation is derived assuming that the vehicle does not slip and always remains in contact with the ground. If these assumptions are true the velocity of the vehicle in the plane perpendicular to the forward direction should be zero. The second constraint equation is derived from the fact that the height does not change much in a short time interval in a land vehicular environment. Thus, when a GPS outage occurs (partial/complete), the integrated system combines the INS and constraints-derived virtual measurements to keep the position and velocity errors bounded. This method is suitable for use in real-time applications. The second method is specifically suitable for a post-mission application and involves the use of Rauch-Tung-Striebel (RTS) smoother. The designed system performance is evaluated using two data sets collected in dense urban areas. The obtained results demonstrate the effectiveness of different algorithms considered, in controlling the INS error growth, and indicates the potential of MEMS IMUs for use in land vehicle navigation applications.

Phase effect in time-stamped accelerometer measurements – an experimental approach

“…which indicates that the instantaneous displacement x(t) is a function of the amplitude X of the oscillation, of time t and of a phase ϕ. Derivation of this equation leads to equation (2) describing the instantaneous velocity v(t)…”

“…The advent of such instruments opened new horizons in various types of measurements, for the additional reason that it permitted to combine different sensors and obtain combined observations. Some examples are (1) the time stamping of seismometers with GPS and the combination of seismometers or accelerometers with GPS [1], permitting a better understanding of earthquakes and structural vibrations; (2) the development of inertial systems consisting of gyroscopes and accelerographs which are combined with GPS and permit to counteract satellite signal deficiencies [2]; (3) the combination of GPS with sonars which permit the improvement of the reconstruction of the seabottom topography [3]; or finally (4) combination of various sensors to obtain 3-D images using mobile mapping techniques [4,5]. A key point in all these studies is the time stamping of observations which, at least in the last years, tends to be provided by GPS observations [6,7], avoiding older techniques such as simultaneous conventional (analog) photos of chronometers and of other analog sensors such as telescope images.…”

A State-of-the-Art Survey of Indoor Positioning and Navigation Systems and Technologies

“…Hence, it is used in INS via PDR because of the accuracy in directional information provided by INS (Diaz, Gonzalez, & Müller, 2014). DR is also employed in some electromechanical navigation devices such as microelectro-mechanical systems (MEMS), which have made it possible to develop small, low-cost and light INSs (Godha & Cannon, 2007;Jiménez, Seco, Prieto, & Guevara, 2009;Bird & Arden, 2011;H. Zhang, Yuan, Shen, Li, & Chang, 2015).…”

“…PDR is a positioning system that transformed from the principles of DR and is applied in INSs. In principle, it can also be referred to as INS positioning system (Godha & Cannon, 2007;Evennou & Marx, 2006;J. Liu, Cai, Tang, & Wang, 2010).…”

Road-Following-Based Navigation in Park and Pedestrian Street with Finding Intersection and Orientation Detection

“…[6] GPS [7] ICP GPS GPS [8] 1 [10] Fig. 1 Route in park and pedestrian street environment for experiments [9] 500 [m] 2 2010 2010 [9] 2.…”