Performance Evaluation of High-Grade HRG-Based INS with ZUPT & NHC Aiding for Land Vehicle Navigation in GNSS-Denied Environments

Suktae Kang, Kijeong Yoo, Kyungdon Ryu, Sunghyuk Choi, and Jin Seung Lee

Peer Reviewed

Abstract:	The purpose of this paper is to verify the navigation performance of a high-grade hemispherical resonator gyro (HRG)-based Inertial Navigation System (INS) without external aiding sensors for land vehicles operating in Global Navigation Satellite System (GNSS)-denied environments. Due to the complex manufacturing processes required for HRGs, research on their navigation capabilities has been limited. To fill this gap, the study conducts extensive field tests in three operational scenarios—Best, Moderate, and Worst—each in fully GNSS-denied environments. It evaluates the integration of zero-velocity update (ZUPT) and nonholonomic constraint (NHC) aiding information, testing different frequencies of ZUPT. All scenario environments are fully GNSS-denied and NHC aiding information is available, and each scenario covers different frequency of ZUPT-aiding. The navigation performance of each scenario is validated with Differential - GPS (DGPS) data. The field test results demonstrate both a comprehensive evaluation of high-grade HRG-based INS and a framework for future investigation in this field. Results show that combining ZUPT and NHC significantly reduces navigation errors, demonstrating the effectiveness of HRG-based INS in challenging conditions. This comprehensive evaluation not only confirms the potential of HRG systems for land vehicles without GNSS support but also establishes a foundation for future research. In summary, the study provides an extensive evaluation of navigation performance for HRG-based INS technology in GNSS-denied environments, offering valuable insights into practical applications and advancing our understanding of high-grade navigation systems. Keywords— High-grade HRG INS, Performance evaluation, GNSS-denied Environment, ZUPT, NHC
Published in:	2025 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 28 - 1, 2025 Salt Lake Marriott Downtown at City Creek Salt Lake City, UT
Pages:	157 - 165
Cite this article:	Kang, Suktae, Yoo, Kijeong, Ryu, Kyungdon, Choi, Sunghyuk, Lee, Jin Seung, "Performance Evaluation of High-Grade HRG-Based INS with ZUPT & NHC Aiding for Land Vehicle Navigation in GNSS-Denied Environments," 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS), Salt Lake City, UT, April 2025, pp. 157-165.
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