An Intelligent MEMS IMU/HSGPS Integration System for Vehicular Navigation in Urban Canyons

Jau-Hsiung Wang and Yang Gao

Abstract:	This paper develops an intelligent MEMS IMU/HSGPS integration system to provide continuous and reliable vehicular navigation solutions under all GPS signal conditions. The proposed integration system consists of three cascaded Kalman filters aided by the HSGPS performance assessment schemes and vehicle dynamics knowledge. The HSGPS performance assessment system provides a mechanism of adaptively adjusting the measurement noise covariance matrix in the integration Kalman filter for the optimal use of HSGPS data. With the aiding of vehicle dynamics knowledge, the integration Kalman filter can use simplified dynamics models and extended measurement updates for the effective utilization of inertial data. The proposed system was examined by using the field test data from an actual automobile driving in urban areas. The results demonstrated that the HSGPS data can be properly classified and the across-track positioning accuracy in the order of around ten meters is obtainable using the integration 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:	941 - 948
Cite this article:	Wang, Jau-Hsiung, Gao, Yang, "An Intelligent MEMS IMU/HSGPS Integration System for Vehicular Navigation in Urban Canyons," 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. 941-948.
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