A low-cost GPS aided inertial navigation system for vehicle applications

In this paper an approach for integration between GPS and inertial navigation systems (INS) is described. The continuous-time navigation and error equations for an earth-centered earth-fixed INS system are presented. Using zero order hold sampling, the set of equations is discretized. An extended Kalman filter for closed loop integration between the GPS and INS is derived. The filter propagates and estimates the error states, which are fed back to the INS for correction of the internal navigation states. The integration algorithm is implemented on a host PC, which receives the GPS and inertial measurements via the serial port from a tailor made hardware platform, which is briefly discussed. Using a battery operated PC the system is fully mobile and suitable for real-time vehicle navigation. Simulation results of the system are presented.

[1]  Hugh F. Durrant-Whyte,et al.  A Kalman filter model for GPS navigation of land vehicles , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[2]  K.P. Schwarz,et al.  Aided versus embedded-a comparison of two approaches to GPS/INS integration , 1994, Proceedings of 1994 IEEE Position, Location and Navigation Symposium - PLANS'94.

[3]  Fumio Harashima,et al.  Estimation of errors in inertial navigation systems with GPS measurements , 2001, ISIE 2001. 2001 IEEE International Symposium on Industrial Electronics Proceedings (Cat. No.01TH8570).

[4]  Hugh F. Durrant-Whyte,et al.  Inertial navigation systems for mobile robots , 1995, IEEE Trans. Robotics Autom..

[5]  Ali H. Sayed,et al.  Linear Estimation (Information and System Sciences Series) , 2000 .

[6]  J. Farrell,et al.  The global positioning system and inertial navigation , 1999 .

[7]  Fredrik Gustafsson,et al.  Adaptive filtering and change detection , 2000 .

[8]  John B. Moore,et al.  Direct Kalman filtering approach for GPS/INS integration , 2002 .

[9]  A. B. Chatfield.  Fundamentals of high accuracy inertial navigation , 1997 .

[10]  Karl Johan Åström,et al.  Computer-Controlled Systems: Theory and Design , 1984 .

[11]  R. Dorobantu,et al.  Field evaluation of a low-cost strapdown IMU by means GPS , 1999 .