|Abstract:||Autonomous and Land vehicles call for continuous and robust navigation information. Such vehicles, typically depend on one of the Global Navigation Satellite Systems (GNSS) such as the Global Positioning System (GPS) to provide the navigation information. However, GPS signal is vulnerable to many error sources starting such as atmospheric effects, multipath, or full signal blockage. Driving in urban canyons with high rising buildings causes an outage of the GPS signal. Therefore, another system is required to take its place to maintain the navigation information provided to the vehicle. The Inertial Navigation system (INS) such as Reduced Inertial Sensor System (RISS) is the typical choice to carry out this job. However, RISS system solution error grows with time. The RISS/GPS, integrated navigation system, benefits from both systems advantages and reduces the error. However, when there is an outage of GPS signal, the integrated system drifts because of low-cost Inertial Measurement Unit (IMU) that typically used. To solve this problem and improve the overall system performance especially during GPS signal outages, a magnetic-based RISS/GPS integrated system (Mag/RISS/GPS) is introduced. The magnetic system is a 3D-magnetometer providing measurement used for the azimuth angle calculation. The correct azimuth angle is critical in velocity and position calculations. Updating the conventional RISS/GPS system with azimuth from magnetometer enhanced the overall system performance. The introduced system Mag/RISS/GPS tested on real trajectory data from different IMU units with different specifications. The results show a significant enhancement when using the proposed system compared with the traditional RISS/GPS especially when GPS signal blocked.|
Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017)
September 25 - 29, 2017
Oregon Convention Center
|Pages:||2944 - 2959|
|Cite this article:||
Abosekeen, Ashraf, Noureldin, Aboelmagd, Karamat, Tashfeen, Korenberg, Michael J., "Comparative Analysis of Magnetic-Based RISS using Different MEMS-Based Sensors," Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017), Portland, Oregon, September 2017, pp. 2944-2959.
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