New Approaches for Accuracy Enhancement of MEMS Based INS Integrated with GPS for Land Vehicles

Aboelmagd Noureldin, Don McGaughey, Mark Eberts, and Craig Johnston

Abstract:	Vehicle navigation systems often employ an inertial measuring unit (IMU) to complement the Global Positioning System (GPS). The added redundancy of the inertial navigation system (INS) can be invaluable to the end user; and as such, the integration of GPS with inertial sensors has become a standard practice. The relatively high cost of INS has been preventing their use for land vehicle applications. Recently, MEMS-based INS has become commercially available at low cost. Compared to expensive navigational or tactical grade INS, low-cost MEMS-based sensors are more susceptible to long-term and short-term (low and high frequency) errors that present themselves as correlated noise. Signal processing techniques such as, optimal low-pass filtering and wavelet de-noising have been successful at minimizing the shortterm errors, but they have not been able to effectively eliminate the long-term errors mixed with the dynamic motion of the vehicle. The primary objective of this paper is to develop: (1) a novel inertial sensor accuracy enhancement technique that can remove both short-term and long-term error components from inertial sensor measurements prior to INS mechanization and INS/GPS integration. (2) an improved KF performance for MEMS - based INS/GPS integration by utilizing more accurate stochastic modeling of the MEMS-based inertial sensors. This paper demonstrates the road test results on MEMSbased IMU/GPS that show improvement in the overall system 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:	596 - 601
Cite this article:	Noureldin, Aboelmagd, McGaughey, Don, Eberts, Mark, Johnston, Craig, "New Approaches for Accuracy Enhancement of MEMS Based INS Integrated with GPS for Land Vehicles," 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. 596-601.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In