Title: Performance Differentiation in a Tightly Coupled GNSS/INS Solution
Author(s): Ryan Dixon, Michael Bobye
Published in: Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016)
September 12 - 16, 2016
Oregon Convention Center
Portland, Oregon
Pages: 2777 - 2788
Cite this article: Dixon, Ryan, Bobye, Michael, "Performance Differentiation in a Tightly Coupled GNSS/INS Solution," Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016), Portland, Oregon, September 2016, pp. 2777-2788.
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Abstract: It can be a difficult task trying to determine what kind of GNSS/INS solution will meet the needs of a specific application. Rapid advances in MEMS IMU technology and a proliferation of suppliers have narrowed the cost performance gap considerably when compared with larger and more expensive sensors. However, it has also made the process of selecting an appropriate solution more difficult than ever before. Negotiating the world of IMU specifications and correlating that to performance of the final product can be daunting, as the differences between MEMS sensors are not always apparent in the specification sheets. Furthermore, there are still some applications and performance metrics that require accuracy levels that can only be achieved with more precise sensors. This paper will present what kind of performance is achievable using NovAtel’s SPAN GNSS/INS sensor fusion technology across a range of IMUs. The IMUs investigated have all undergone significant scrutiny and are determined to be amongst the best in their respective performance categories. The process of negotiating the IMU market is a topic worthy of its own paper. The IMU analysis presented herein will be further broken down by a selection of scenarios that highlight different performance criteria. This is intended to help clarify both what performance is possible for each sensor using SPAN technology and to provide guidelines on how to select an appropriate solution for different applications. SPAN technology has also adapted and grown in order to deliver the most accurate solution possible in each application with each IMU type. Some improvements will be explored, including the concept of filter profiles, specifically the one for land vehicles. This is an enhanced approach to dead reckoning, applying constraints and additional updates by environment.