The Feasibility of MEMS Inertial Sensors for Deep Integration of GPS and INS

K. Wang, Y. Li, C. Rizos

Abstract:	The attraction of a deeply-coupled (or tightly-coupled) GPS/INS integrated system is the possibility of high navigation performance with a relatively low cost inertial navigation system (INS). In this paper, the feasibility of using a low-cost MEMS-INS for deeply-coupled GPS/INS is investigated. Firstly, the integration scheme and the principle of the software GPS receiver are summarised briefly. The focus is the feedback gain adjustment which strongly influences the receiver’s performance. Secondly, the state and measurement equations of the deeply-coupled GPS/INS system are presented. The discretisation of the 1st-order Markov process with the changing temperature, and the error models of the gyros and accelerators, are derived. Then, several simulations are performed in order to verify the feasibility of using a MEMS-INS for the deeply-coupled GPS/INS systems. Finally, some conclusions are drawn and further work outlined.
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:	3122 - 3127
Cite this article:	Wang, K., Li, Y., Rizos, C., "The Feasibility of MEMS Inertial Sensors for Deep Integration of GPS and INS," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 3122-3127.
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