A Man Motion Navigation System Using High Sensitivity GPS, MEMS IMU and Auxiliary Sensors

C.J. Mather, P.D. Groves, M.R. Carter

Abstract:	Man motion is one of the most challenging applications for a navigation system. QinetiQ is developing a man motion navigation system demonstrator to meet a military requirement. Civil applications include the monitoring of rescue service personnel working in hostile environments, the management of large scale crises and the security control of large scale events. The man-motion navigation system comprises a QinetiQ Q20 High Sensitivity GPS Receiver Module, a BAE Systems Micro Electro Mechanical Systems (MEMS) Inertial Measurement Unit (IMU) combined with QinetiQ inertial navigation equations, a PNI TCM-5 3 axis magnetometer, and a Druck RPT 350-055B barometric altimeter (baro). The IMU measurements are used both for conventional inertial navigation and to generate pedestrian dead reckoning (PDR) measurements and automatic zero velocity updates (ZVUs). ZVUs may also be triggered manually. A bespoke multi-sensor integration algorithm is used to combine the outputs of the various sensors to produce an optimum navigation solution. This paper describes the architecture and design philosophy of both the hardware and the integration algorithm. Preliminary trials results are presented and a route identified for maximising the robustness of the final system.
Published in:	Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006) September 26 - 29, 2006 Fort Worth Convention Center Fort Worth, TX
Pages:	2704 - 2714
Cite this article:	Mather, C.J., Groves, P.D., Carter, M.R., "A Man Motion Navigation System Using High Sensitivity GPS, MEMS IMU and Auxiliary Sensors," Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006), Fort Worth, TX, September 2006, pp. 2704-2714.
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