Real-time Processing and Flight Demonstration of a Low Cost MEMS-based GPS/INS, Micro-GAIA

Hiroshi Tomita, Takeshi Fujiwara, Toshiaki Tsujii, and Masatoshi Harigae

Abstract:	Japan Aerospace Exploration Agency (JAXA) is developing a MEMS-based GPS/INS integrated navigation system named Micro-GAIA for small aircraft. Micro-GAIA is a miniaturized version of the JAXA's GAIA (GPS Aided Inertial navigation Avionics). In 2007, new hardware and onboard software that enables real-time navigation processing were made. The new equipment weights 610g and the dimension is 95 쳌~ 75 쳌~ 93mm. Flight experiments were conducted to demonstrate the real-time navigation performance, using the Dornier Do228-202 airplane of JAXA. The roll and pitch attitude accuracy was 0.07degrees (1ƒÐ) and heading accuracy was 0.5degrees (1ƒÐ) in the flight period. These results are as good as the offline analyses we reported before, and show the real-time processing works properly. An offline analysis of the coasting error during GPS outage was made, and the result was 22m CEP after 60 second GPS outage. Furthermore, we tried offline identification of the parameters, including scale factor, misalignment and Kalman filter noise parameters, using Genetic Algorithm (GA). It improves the attitude accuracy to 0.04degrees (1ƒÐ) and heading accuracy to 0.3degrees (1ƒÐ). That suggests further improvement of real-time performance.
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:	2094 - 2101
Cite this article:	Tomita, Hiroshi, Fujiwara, Takeshi, Tsujii, Toshiaki, Harigae, Masatoshi, "Real-time Processing and Flight Demonstration of a Low Cost MEMS-based GPS/INS, Micro-GAIA," 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. 2094-2101.
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