Robustness Improvement of a Low Cost MEMS-based GPS/INS, Micro-GAIA

Takeshi Fujiwara, Hiroshi Tomita, and Masatoshi Harigae

Abstract:	In recent years, inertial sensors like gyros and accelerometers have been quite miniaturized by using the Micro Electro-Mechanical Systems (MEMS) technology. Japan Aerospace Exploration Agency (JAXA) is developing a MEMS-based GPS/INS integrated navigation system named Micro-GAIA. The navigation performance of Micro-GAIA was evaluated through the off-line analysis by using the actual flight test data. The robustness against a brief GPS cutoff and the robustness against a model error were evaluated and improved. 50% of the horizontal position errors 60 seconds after the GPS cutoff fit within a radius of 22 meters. By applying the adaptive Kalman filter using the residual sequence, the robustness against the uncertainty of the measurement noise covariance was improved.
Published in:	Proceedings of the 2007 National Technical Meeting of The Institute of Navigation January 22 - 24, 2007 The Catamaran Resort Hotel San Diego, CA
Pages:	736 - 742
Cite this article:	Fujiwara, Takeshi, Tomita, Hiroshi, Harigae, Masatoshi, "Robustness Improvement of a Low Cost MEMS-based GPS/INS, Micro-GAIA," Proceedings of the 2007 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2007, pp. 736-742.
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