Low-cost Sensor Information Fusion Technology for iPhone Aided Navigation

H. Hong, H. Guo, J. Xiong, M. Yu, Jiangxi, S. Fang, J. Guo

Abstract:	In this paper, the algorithms of multi-sensor information fusion are presented to obtain a combined solution for iPhone aided navigation which is performed by IMU/GPS/magnetometer integrated navigation system. The algorithms processed specific forces and angular rates along with magnetometer, GPS data by extended Kalman filter. For low-cost sensors, the corresponding initial alignment methods are designed according to their characteristics. Vertical and lateral velocities in the body frame are added as the measurements to increase the observability of the navigation system for the purpose of improving the accuracy of IMU and GPS combined solution. Through IMU/GPS/ Magnetometer integrated, GPS outages in the downtown valley and under the tunnel have been smoothed. The calculation results show an estimation of the positions, velocities and attitudes. The position differences between IMU/GPS/Magnetometer and GPS only solutions have been compared, and standard deviations of 3.14 meters in North, 3.33 m in East, and 3.20 m in up directions have been got.
Published in:	Proceedings of the 2015 International Technical Meeting of The Institute of Navigation January 26 - 28, 2015 Laguna Cliffs Marriott Dana Point, California
Pages:	304 - 309
Cite this article:	Hong, H., Guo, H., Xiong, J., Yu, M., Jiangxi,, Fang, S., Guo, J., "Low-cost Sensor Information Fusion Technology for iPhone Aided Navigation," Proceedings of the 2015 International Technical Meeting of The Institute of Navigation, Dana Point, California, January 2015, pp. 304-309.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In