Low Cost MEMS-IMU Based DR/GPS Integrated System in Urban Environment

In this paper, we propose an MEMS-IMU Based $10^{th}$ order DR/GPS integrated system. Existing low cost MEMS based INS/GPS integrated systems are not applicable to autonomous vehicle localization that needs navigation error under $3m$. To improve the performance of the MEMS based navigation system, odometer based DR/GPS formulation was proposed. By substituting MEMS accelerometer to odometer, velocity and position errors of navigation solution are reduced. The proposed method is tested for a land vehicle in urban area including GPS outage section. The experimental results show that the proposed method reduced the navigation error in the GPS outage section than MEMS INS/GPS system.

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