Improving the Performance of Portable Navigation Devices by Using Partial IMU Based GPS/INS Integration Technology

Xiaoji Niu, Shaowei Han

Abstract:	This paper presents a low cost GPS/INS system for Portable Navigation Devices (PND) products. The system is based on partial IMU that composes of one heading gyro and tri-axis accelerometer (1G3A). The navigation algorithm was designed to adapt the incomplete sensor configuration. All possible update information for land vehicles (e.g. non-holonomic constraint and odometer) were carefully used to maintain the navigation accuracy. Application issues such as the random mounting angle of the PND were addressed by dedicated algorithm. Production requirements such as the computation load and the system reliability were also considered in the implementation. Test results were presented with typical challenging scenarios in tunnels and urban canyons. The INS can bridge the GPS signal outages and improve the GPS solution effectively. The developed GPS/INS solution is qualified for PND product in terms of cost, performance, and usability.
Published in:	Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008) September 16 - 19, 2008 Savannah International Convention Center Savannah, GA
Pages:	2130 - 2136
Cite this article:	Niu, Xiaoji, Han, Shaowei, "Improving the Performance of Portable Navigation Devices by Using Partial IMU Based GPS/INS Integration Technology," Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008), Savannah, GA, September 2008, pp. 2130-2136.
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