Unaided MEMS-Based INS Application in a Vehicular Environment

Jussi Collin, Jani Kappi and Jukka Saarinen

Abstract:	In this paper the applicability of inertial sensors for handheld devices is studied. This paper focuses on navigation in a vehicular environment with infrequent Global Positioning System (GPS) position updates. The evaluated system consists of six degrees of freedom inertial measurement unit and special navigation software that is designed to reduce errors typical for a low-cost inertial navigation system (INS). Specifically, three methods are used to limit the error growth. Firstly, the system is initialized whenever it is found that the vehicle is stationary. Secondly, velocity components perpendicular to the vehicle’s direction of travel are removed within every computation cycle. Thirdly, the navigation solution is computed partially backwards to completely utilize the benefit of the initialization. Test results show that such a system in heavy traffic can be used for 20 minutes with an error comparable to GPS solution. The main benefit of the discussed system is improved coverage, but also power savings due to decreased need for GPS fixes are expected.
Published in:	Proceedings of the 14th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2001) September 11 - 14, 2001 Salt Palace Convention Center Salt Lake City, UT
Pages:	1343 - 1348
Cite this article:	Collin, Jussi, Kappi, Jani, Saarinen, Jukka, "Unaided MEMS-Based INS Application in a Vehicular Environment," Proceedings of the 14th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2001), Salt Lake City, UT, September 2001, pp. 1343-1348.
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