Inertial only Land Vehicle Navigation using MEMS
Igor P. Prikhodko (Analog Devices Inc.), Brock Bearss (Analog Devices Inc.), Carey Merritt (Analog Devices Inc.), Joe Bergeron (Analog Devices Inc.), Charles Blackmer (Analog Devices Inc.)
Location: Big Sur
In this work, we experimentally demonstrate strapdown inertial navigation for automobiles with position errors reaching GPS-like accuracies by using a tactical-grade MEMS gyroscope in an inertial measurement unit (IMU) for attitude
estimation and an odometer for velocity estimation. This paper also analyzes the propagation of sensor errors into position error and determines that the gyroscope rate integration error due to combined Angle Random Walk and Bias Instability is the
dominant source. We conclude that dead-reckoning the position using tactical-grade MEMS gyroscopes without aiding is feasible for car navigation over 10 minutes with the 3-sigma covariance bounds of 30 m based on gyroscope errors (GPS accuracy is 15 m).