Detection of Stationarity in an Inertial Navigation System

A. Ramanandan, A. Chen, J.A. Farrell, S. Suvarna

Abstract:	Abstract—Integrated GPS - Inertial Navigation System (INS) is a popular tool used in localization. Localization accuracies of a few centimeters can be achieved using carrier phase processing under certain conditions such as clear view of the sky and differential correction availability; however, when using an inexpensive Inertial Measurement Unit (IMU), the performance deteriorates beyond the meter level in tens of seconds in GPS denied areas. This deterioration in performance can be attributed to the presence of noise and slowly changing biases that affect the IMU measurements. The biases are nuisance parameters and should be estimated to improve localization performance. Use of artificial zero velocity and/or angular rate aiding measurements is attractive for estimation of velocity, attitude and IMU biases; however, detection of time instances appropriate for such stationary “measurements” is a challenge. False application of stationary updates can severely deteriorate localization performance. This paper reviews existing methods and proposes a frequency domain approach to detect stationarity, with specifications for land vehicles.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	238 - 244
Cite this article:	Ramanandan, A., Chen, A., Farrell, J.A., Suvarna, S., "Detection of Stationarity in an Inertial Navigation System," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 238-244.
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