Implementation of a Skewed-Redundant Low-Cost INS in a Fast-Prototyping Environment

Richard Giroux, Salah Sukkarieh, and Mitchell Bryson

Abstract:	Low cost inertial navigation systems (INS) are of great interest and many approaches are currently investigated being to cope with their inherent inaccuracy. The approach undertaken in this paper relies on the use of redundant sensor information to enhance the global performance of the navigation system while ensuring the system’s integrity. The skewed-redundant set of sensors is structured on a dual-tetraedron, consisting of 8 faces. In addition to the experimental results, this paper addresses the use of a rapid-prototyping approach to design the system integration algorithm and to perform the real-time processing. The first results show that the structure is suitable to give accurate inertial information given the presence of an external source of information, e.g. GPS fixes. In the case of GPS outage, the navigation solution drifts and further calibration of error should be performed. This last issue is part of the ongoing research effort.
Published in:	Proceedings of the 2004 National Technical Meeting of The Institute of Navigation January 26 - 28, 2004 The Catamaran Resort Hotel San Diego, CA
Pages:	954 - 961
Cite this article:	Giroux, Richard, Sukkarieh, Salah, Bryson, Mitchell, "Implementation of a Skewed-Redundant Low-Cost INS in a Fast-Prototyping Environment," Proceedings of the 2004 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2004, pp. 954-961.
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