Performance Analysis of MEMS IMU/HSGPS/Magnetic Sensor Integrated System in Urban Canyons

S. Godha, M. G. Petovello and G. Lachapelle

Abstract:	This paper focuses on evaluating the performance of a GPS/INS integrated system based on a HSGPS receiver and MEMS IMU, in an urban canyon environment. The main focus is on position accuracy analysis using a tightly coupled integration scheme. Simultaneous field testing using HSGPS receiver, MEMS, tactical, and navigation grade IMUs, and magnetometers is conducted to allow for evaluation of the integrated system performance. Two different methods are investigated for improving the system performance during periods of GPS unavailability. The first method is to use an auxiliary sensor that provides heading updates to the integrated system to bound the errors in the INS heading estimation. Using results of this analysis, the feasibility of using a magnetometer as a heading sensor is evaluated. The second method is to provide height aiding to the system. The results show that HSGPS/MEMS integrated system can provides RMS horizontal accuracies better than 20 m in dense urban canyons. With the proposed heading and height aiding, performance improves by 30 to 60%.
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:	1977 - 1990
Cite this article:	Godha, S., Petovello, M. G., Lachapelle, G., "Performance Analysis of MEMS IMU/HSGPS/Magnetic Sensor Integrated System 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. 1977-1990.
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