An Intelligent MEMS IMU-Based Land Vehicle Navigation System Enhanced by Dynamics Knowledge

Jau-Hsiung Wang, Yang Gao, and Yufeng Zhang

Abstract:	Micro-Electro-Mechanical-System Inertial Navigation System (MEMS INS) provides a small-size and commercial affordable approach to aid a GPS-based land vehicle navigation system during GPS outages. The major challenge to applications is the rapid error accumulation with the course of time during the stand-alone navigation because of the poor quality of inertial instruments. This paper proposes an intelligent navigation algorithm for MEMS INS error control by applying land vehicle dynamics knowledge. The constrained model for land vehicle motion is first applied to simplify the INS mechanization process and reduce the navigation error. A multi-mode dynamics-dependent estimator incorporated with a fuzzy expert vehicle dynamics identification system is developed to improve the performance of tilt and velocity estimation. A neural networks-based compass heading calibration scheme and a Kalman filterbased gyro/compass data fusion method are applied to provide smooth and drift-free heading estimation. The field test results show that the position accuracy of the order of 10 m RMS with a maximum error of 20 m is obtainable using low-cost MEMS inertial sensors for about 3-minute stand-alone navigation.
Published in:	Proceedings of the 61st Annual Meeting of The Institute of Navigation (2005) June 27 - 29, 2005 Royal Sonesta Hotel Cambridge, MA
Pages:	1141 - 1150
Cite this article:	Wang, Jau-Hsiung, Gao, Yang, Zhang, Yufeng, "An Intelligent MEMS IMU-Based Land Vehicle Navigation System Enhanced by Dynamics Knowledge," Proceedings of the 61st Annual Meeting of The Institute of Navigation (2005), Cambridge, MA, June 2005, pp. 1141-1150.
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