Full-State Software GNSS and Reduced MEMS IMU Measurement Processing for Urban Navigation

E. Vinande, J. Almqvist, D. Akos

Abstract:	This paper presents an integration of partial-IMU measurements into the codebase of an existing software GNSS receiver for land vehicle navigation. Full-state filtering was implemented in contrast to the traditional error-state filtering approach. The Kalman filter time update was performed with IMU acceleration and rotation measurements while the measurement update was performed with GNSS pseudorange and Doppler measurements. Inertial component biases were estimated while the vehicle velocity was below 1.2 m/s for at least 5 seconds. A truth reference system composed of a hardware GPS receiver and tactical-grade IMU provided a truth trajectory for experimental comparison. The results from a drive test in downtown Denver, CO showed a solution availability increase from 95% to 100% with the addition of partial-IMU to the software receiver. Horizontal positioning and heading angle 50th percentile errors also showed a corresponding decrease (8.4 m to 4.2 m and 5.3o to 1.7o, respectively).
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	1004 - 1012
Cite this article:	Vinande, E., Almqvist, J., Akos, D., "Full-State Software GNSS and Reduced MEMS IMU Measurement Processing for Urban Navigation," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 1004-1012.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In