On-line Smoothing for Mobile Mapping Systems Utilizing a Low Cost MEMS IMU

Thank-Trung Duong, Kai-Wei Chiang, Chin-Chia Chang, Jia-Ming Cai, Shih-Ching Huang

Abstract:	For Land-based Mobile Mapping Systems (MMS) and navigation applications, the integration of Inertial Navigation System (INS) and Global Positioning System (GPS) is widely applied for determining position and orientation parameters. Due to low cost and small size, the Micro-Electro Measurement System (MEMS) inertial sensor is attractively utilized for commercial MMS. However, since the large bias and scale factor is still the main disadvantage of the MEMS sensor, the positional error of the system grows quickly over time in GPS denied environments. This issue takes place frequently when a land based MMS operates in GNSS hostile environment such as urban area or passing tunnels where the GPS signal is weak or completely blocked. To overcome that problem, this paper introduces on-line smoothing algorithm, which can utilizes the advantages and overcome the limitation of Kalmal filter and off-line Rauch-Tung-Striebel smoother to improve the performance of MMS utilizing low cost MEMS IMU.
Published in:	Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012) September 17 - 21, 2012 Nashville Convention Center, Nashville, Tennessee Nashville, TN
Pages:	642 - 649
Cite this article:	Duong, Thank-Trung, Chiang, Kai-Wei, Chang, Chin-Chia, Cai, Jia-Ming, Huang, Shih-Ching, "On-line Smoothing for Mobile Mapping Systems Utilizing a Low Cost MEMS IMU," Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012), Nashville, TN, September 2012, pp. 642-649.
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