The Performance Evaluation of a Real-time Low-cost MEMS INS/GPS Integrated Navigator with Aiding from ZUPT/ZIHR and Non-holonomic Constraint for Land Applications

Cheng-Yueh Liu

Abstract:	INS/GPS integrated system has been one of the most popular methodologies in the research field of navigation technology. This paper aims at developing a real time low cost INS/GPS integrated navigator based on PC platform and reviewing many problems encountered in the development of real time system. A MEMS IMU is applied in the system in order to meet the requirements of low cost and small size. The proposed system utilizes Auto ZUPT/ZIHR as a accurate update source for extended Kalman Filter (EKF) to improve the accuracy of navigation solutions during GPS signal blockages. . In the end, various field tests which include a pure INS aided by ZUPT/ZIHR and NHC, a simple INS/GPS and an INS/GPS aided by ZUPT/ZIHR and NHC are conducted in one open field and roads in downtown. The preliminary results presented in this study illustrates the proposed system with frequent ZUPT/ZIHR provides a stable performance which operates kinematically in free inertial mode without the aiding of GPS by 15 minutes with a low cost IMU and the INS/GPS integrated solutions are improved by 50% when automatic ZUPT/ZIHR and NHC are both applied in GNSS denied environments.
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:	1500 - 1520
Cite this article:	Liu, Cheng-Yueh, "The Performance Evaluation of a Real-time Low-cost MEMS INS/GPS Integrated Navigator with Aiding from ZUPT/ZIHR and Non-holonomic Constraint for Land Applications," Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012), Nashville, TN, September 2012, pp. 1500-1520.
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