Experiments of Low-cost INS/GPS Navigation Platform Based on PC104

N. Hachelef, P. Lavoie, D. Li, and R. Landry

Abstract:	With the state of the art innovations of navigation systems, GPS is becoming a very important part of daily life. Indeed, GPS is a very helpful and precise navigation system however its performance is fairly vulnerable due to the environment noise, which may cause GPS signals loss and attenuation. Hence this is hard to rely much on this technology. Compared with GPS, the INS is a self-contained navigation system, which has jamproof performances but the sensors induce errors which are growing with time. These two navigation systems integrated together can compensate each other’s weakness providing a continuous data acquisition using an adapted filter. This integrated solution of GPS/INS gives an accurate solution which is low-cost and jamproof. This paper presents a low-cost GPS/INS platform developed with Micro Electro-Mechanical System (MEMS). Fast prototyping tools such as Matlab/Simulink are utilized to implement/validate the algorithm. This platform is consist of an assembly of different PC104 cards such as acquisition card, GPS card, Ethernet card, mother board… stacked up together providing the link between the sensors, the algorithm and the host computer. The software including INS, GPS data acquisition and the Kalman filter is loaded and processed on the PC104 based computer. This platform is totally self-embeddable and can be used independently without any external hardware/software supports. The algorithm utilized can be adapted to different grade of inertial sensors by changing few parameters.
Published in:	Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007) September 25 - 28, 2007 Fort Worth Convention Center Fort Worth, TX
Pages:	1669 - 1676
Cite this article:	Hachelef, N., Lavoie, P., Li, D., Landry, R., "Experiments of Low-cost INS/GPS Navigation Platform Based on PC104," Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007), Fort Worth, TX, September 2007, pp. 1669-1676.
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