Real-Time MEMS Based INS/GPS Integrated Navigation System for Land Vehicle Navigation Application

Y. Yang, X. Niu, and N. El-Sheimy

Abstract:	This paper describes the implementation and experimental results of a real-time loosely-coupled navigation system software with stand-alone GPS and micro electro mechanical system (MEMS) based strapdown inertial navigation system (INS) for land vehicle navigation application. Twelve states extended Kalman filter is used to estimate the system errors, which aims at mitigating the navigation computation burden and to estimate the twodimension (2D) navigation solution in real-time. To have the GPS and INS working simultaneously and harmoniously, two interrupts are designed for the navigation computer. The first is dedicated to the IMU raw measurements acquisition and processing. The second is dedicated for GPS measurements processing. Experimental results with two different MEMS-based IMUs show that the proposed MEMS based INS/GPS integrated system can reach tens of meter level positioning accuracy during short term (30 to 60 seconds) GPS signal outages. Results also indicate that the 2D positioning errors during GPS signal outages are relevant to vehicle's dynamic motion and GPS outage intervals.
Published in:	Proceedings of the 2006 National Technical Meeting of The Institute of Navigation January 18 - 20, 2006 Hyatt Regency Hotel Monterey, CA
Pages:	501 - 507
Cite this article:	Yang, Y., Niu, X., El-Sheimy, N., "Real-Time MEMS Based INS/GPS Integrated Navigation System for Land Vehicle Navigation Application," Proceedings of the 2006 National Technical Meeting of The Institute of Navigation, Monterey, CA, January 2006, pp. 501-507.
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