DR/GPS Integrated System for Seamless Positioning as a Telematics Navigator

Seong Yun Cho and Wan Sik Choi

Abstract:	This paper demonstrates that a simplified DR scheme and a DR/GPS system design for low-cost land navigation. The DR scheme has minimum number of inertial sensors and the DR/GPS system is designed using the sigma point Kalman filter (SPKF). It is shown that the performance of a stand-alone DR system and a DR/GPS system can be enhanced employing the proposed system. The DR system does not have undetectable error that can be occurred on the curve trajectory in the conventional INS construction containing low-grade accelerometers. And the DR/GPS system can provide a stable and seamless navigation solution even in the case that the initial heading estimation error is large, and the GPS signal is unavailable occasionally because of tunnels, buildings, etc. in the urban canyon. Experimental results indicate a satisfactory performance of the proposed system.
Published in:	Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005) September 13 - 16, 2005 Long Beach Convention Center Long Beach, CA
Pages:	448 - 455
Cite this article:	Cho, Seong Yun, Choi, Wan Sik, "DR/GPS Integrated System for Seamless Positioning as a Telematics Navigator," Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005), Long Beach, CA, September 2005, pp. 448-455.
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