Performance Evaluation of Ultra-tight Integration of GPS/Vehicle Sensors for Land Vehicle Navigation

T. Li, M.G. Petovello, G. Lachapelle, C. Basnayake

Abstract:	Vehicle positioning systems, due to their cost-sensitive nature, often consist of reduced order low-cost MEMS-based inertial measurement units (IMU) instead of a full six degree of freedom IMUs. A typical vehicle sensor setup is likely to have two horizontal accelerometers and one vertical gyroscope along with individual wheel speed sensors. GPS/Vehicle Sensors integrated systems are typically capable of providing considerable accuracy, availability, and reliability improvements relative to GPS alone. This paper investigates an ultra-tight integration strategy to fuse GPS and low cost inertial sensor information for cost sensitive land vehicle applications. Due to the performance degradation induced by the combination of low quality MEMS sensors and having only a subset of measurements of vehicle motion, wheel speed sensors and non-holonomic constraints are used to constrain the inertial navigation error. The violations of non-holonomic constraints are analyzed and compensated to provide a more stable solution. Finally, both tracking and positioning performance of the integrated system is evaluated in different operational environments.
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:	1785 - 1796
Cite this article:	Updated citation: Published in NAVIGATION: Journal of the Institute of Navigation
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In