Application of Fast Orthogonal Search Techniques for Accuracy Enhancement of Inertial Sensors for Land Vehicle Navigation

J. Armstrong, A. Noureldin, and D. McGaughey

Abstract:	This paper presents an overview of a research effort at the Royal Military College of Canada to apply Fast Orthogonal Search (FOS) techniques to the accuracy enhancement of tactical grade inertial sensors for land vehicle navigation. Presently, optimal low-pass filtering and wavelet denoising (WDN) techniques are predominantly used to eliminate or minimize short-term (high-frequency) errors from the inertial sensor signals, but these techniques have had limited success in removing the long-term (low-frequency) errors that are mixed with the true vehicle motion dynamics. The primary objective of this research is to develop a novel inertial sensor accuracy enhancement technique that employs FOS techniques to estimate the true motion dynamics prior to INS mechanization and GPS/INS data fusion. FOS, introduced by Korenberg, is a generalpurpose non-linear modeling technique that finds functional expansions using an arbitrary set of nonorthogonal candidate functions. The technique can be applied to a variety of practical problems, and applications of FOS in other research fields have shown successful detection of signals buried in short and longterm errors. The proposed FOS-based INertial Sensor Accuracy ENhancer (FOS-INSAEN) technique segments an inertial sensor time-series and applies FOS to each segment to detect and model the motion dynamics buried in the short and long-term errors. A threshold value is set to prevent FOS from modeling the error terms. The model terms from FOS are used to synthesize a time-series that contains the motion dynamic information with minimal error components. The results presented in this paper illustrate that FOSINSAEN can provide comparable, and often improved accuracy enhancement, over WDN techniques on simulated and real tactical grade inertial sensor data. This research introduces FOS techniques to the field of inertial navigation, and demonstrates their potential in the development of powerful inertial sensor accuracy enhancement technologies.
Published in:	Proceedings of the 2006 National Technical Meeting of The Institute of Navigation January 18 - 20, 2006 Hyatt Regency Hotel Monterey, CA
Pages:	604 - 614
Cite this article:	Armstrong, J., Noureldin, A., McGaughey, D., "Application of Fast Orthogonal Search Techniques for Accuracy Enhancement of Inertial Sensors for Land Vehicle Navigation," Proceedings of the 2006 National Technical Meeting of The Institute of Navigation, Monterey, CA, January 2006, pp. 604-614.
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