Improving the Positioning Accuracy of DGPS/MEMS IMU Integrated Systems Utilizing Cascade De-noising Algorithm

Kai-Wei Chiang, Haiying Hou, Xiaoji Niu and Naser El-Sheimy

Abstract:	Global Positioning System (GPS) and Inertial Measurement Unit (IMU) augmented systems provide an enhanced navigation system that has superior performance in comparison with the stand-alone systems (i.e. GPS or Inertial Navigation System (INS)) as it overcome each of their limitations. Most GPS/IMU systems are integrated using the Kalman filter approach. In general, the quality of the final estimates of the state depends therefore on the quality of both the measurements being made and the models being used. Generally speaking, the long term errors of an INS can be reduced through the integration with GPS. On the contrary, the short term errors of an INS can be reduced by both the numerical integration process of the INS mechanization and pre-filtering the IMU raw data. Wavelet based denoising techniques have been applied to reduce the remaining short term errors. However, traditional wavelet denoising algorithm has certain limitations in removing undesired high frequency disturbance. Therefore, a novel denoising algorithm, cascade denoising algorithm, is presented in this article to overcome such limitations and improve the positioning accuracy during GPS outage. The proposed method has been tested using MEMS IMU data collected in land-vehicle.. The results demonstrated that the positioning accuracy during eight out of ten GPS outage periods was successfully improved from 5% to 20% using proposed cascade denoising technique.
Published in:	Proceedings of the 17th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2004) September 21 - 24, 2004 Long Beach Convention Center Long Beach, CA
Pages:	809 - 818
Cite this article:	Chiang, Kai-Wei, Hou, Haiying, Niu, Xiaoji, El-Sheimy, Naser, "Improving the Positioning Accuracy of DGPS/MEMS IMU Integrated Systems Utilizing Cascade De-noising Algorithm," Proceedings of the 17th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2004), Long Beach, CA, September 2004, pp. 809-818.
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