Accelerometer-Based Gyro-Free Multi-Sensor INS

Kirill S. Mostov, Alexandr N. Soloviev

Abstract:	Accurate and cheap vehicle navigation systems are essential for many Intelligent Transportation Systems (ITS) and commercial applications. Inertial Navigation Systems (INS) constitute the crucial part in the majority of modern navigation systems. Because of this, the design of inexpensive and compact INS is an important research direction. Utilization of such novel INS reduces cost, increases precision and improves other specifications of navigation systems. In addition, improved INS permit the expansion of the navigation market into new application areas where Idgh cost, size and weight were limiting factors before. The exclusion of gyroscopes from navigation system architecture reduces cost. In this paper, we present a design methodology for gyro-free accelerometer-based multi-sensor INS. Based on this methodology, several prototypes have been designed and manufactured. Tests of these prototypes confirm the validity of the proposed design methodology. Specifications of the sensors in the multi-sensor INS have been designed also. A general architecture of the gyro-free IMU (inertial measurement unit) including its mounting in a ground vehicle has been developed. Also, the signal conditioning circuitry, analog filtering and A/D conversion sub-systems have been chosen. The development of algorithms for sensor calibration and data processing with their software implementation for an embedded DSP computer have been performed as well. Major errors in the design of a navigation system have been identified and approaches to minimizing each of the errors have been developed. Functionality of the system has been verified during testing. Algorithms for combining accelerometer inputs to provide both attitude and acceleration information were developed. Note that the same inputs can also be used to information. Future work will low-cost gyro-free system applications. provide velocity and position be devoted to integration of the with various commercial.
Published in:	Proceedings of the 54th Annual Meeting of The Institute of Navigation (1998) June 1 - 3, 1998 The Adams Mark Hotel Denver, CO
Pages:	245 - 254
Cite this article:	Mostov, Kirill S., Soloviev, Alexandr N., "Accelerometer-Based Gyro-Free Multi-Sensor INS," Proceedings of the 54th Annual Meeting of The Institute of Navigation (1998), Denver, CO, June 1998, pp. 245-254.
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