Improving MEMS-IMU/GPS integrated systems for land vehicle navigation applications

摘要: The cost of inertial navigation systems (INS) has decreased significantly during recent years using micro-electro-mechanical system technology in production measurement units (IMUs). However, these IMUs do not provide the accuracy and stability their classical mechanical counterparts which limit applications. Hence, error control such is great importance achievable external information via an appropriate fusion algorithm. Traditionally, this can be derived from global positioning (GPS). But it well known that GPS data availability are vulnerable to signal-degrading circumstances satellite visibility. We introduce a standalone attitude heading reference (AHRS) algorithm employs IMU magnetometers averaging manner. method different simple smoothing procedure, since takes rotations platform (during interval) into account. proposed AHRS solution further used additional updates with adaptive noise variances for integrated INS/GPS outages refined loosely coupled filtering making growth restrained. Functionality been assessed field test. results indicate procedure outperforms traditional integration scheme situations, while latter almost loses track movements vehicle after 60-second outages.