In-Motion Alignment Algorithm of the Low-Grade IMU Using Inexpensive Multi Sensor Measurements

Moonseok Choi, Seong-Won Kong, Sangkyong Seong, Eunsung Lee, Moonbeom Heo, Young Jae Lee

Abstract:	Generally, position and velocity information of GPS which has good long-term stability are used for in-motion alignment. However, if low-grade IMU has a big initial attitude error, alignment performance is poor. This paper has proposed a method to improve the initial attitude estimation performance of the low-grade IMU. Added external sensors are the inexpensive magnetic sensor, GPS and barometer. For heading measurements obtained from the magnetic sensor and GPS, TDCP algorithm which uses carrier phase measurements was used to improve the vertical axis attitude estimation performance and speed estimation performance through selective use according to the vehicle speed. A barometer has been applied to improve the performance of alignment algorithm.
Published in:	Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014) September 8 - 12, 2014 Tampa Convention Center Tampa, Florida
Pages:	177 - 183
Cite this article:	Choi, Moonseok, Kong, Seong-Won, Seong, Sangkyong, Lee, Eunsung, Heo, Moonbeom, Lee, Young Jae, "In-Motion Alignment Algorithm of the Low-Grade IMU Using Inexpensive Multi Sensor Measurements," Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 177-183.
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