GPS/MEMS INS integrated system for navigation in urban areas

摘要: This paper evaluates the performance of a tightly coupled GPS/INS integrated system based on low cost MEMS IMUs in dense urban areas, and investigates two different methods to improve its performance. The first method used is derive observations from constraint equations reflecting behavior typical land vehicle. equation derived assuming that vehicle does not slip always remains contact with ground. If these assumptions are true velocity plane perpendicular forward direction should be zero. second fact height change much short time interval vehicular environment. Thus, when GPS outage occurs (partial/complete), combines INS constraints-derived virtual measurements keep position errors bounded. suitable for use real-time applications. specifically post-mission application involves Rauch-Tung-Striebel (RTS) smoother. designed evaluated using data sets collected areas. obtained results demonstrate effectiveness algorithms considered, controlling error growth, indicates potential navigation