An enhanced MEMS-INS/GNSS integrated system with fault detection and exclusion capability for land vehicle navigation in urban areas

We describe an enhanced quality control algorithm for the MEMS-INS/GNSS integrated navigation system. It aims to maintain the system’s reliability and availability during global navigation satellite system (GNSS) partial and complete data loss and disturbance, and hence to improve the system’s performance in urban environments with signal obstructions, tunnels, bridges, and signal reflections. To reduce the inertial navigation system (INS) error during GNSS outages, the stochastic model of the integration Kalman filter (KF) is informed by Allan variance analysis and the application of a non-holonomic constraint. A KF with a fault detection and exclusion capability is applied in the loosely and tightly coupled integration modes to reduce the adverse influence of abnormal GNSS data. In order to evaluate the performance of the proposed navigation system, road tests have been conducted in an urban area and the system’s reliability and integrity is discussed. The results demonstrate the effectiveness of different algorithms for reducing the growth of INS error.

[1]  J. Canny,et al.  Nonholonomic Motion Planning , 1992 .

[2]  M. E. Cannon,et al.  GPS/MEMS INS integrated system for navigation in urban areas , 2007 .

[3]  A. Bloch,et al.  Control and stabilization of nonholonomic dynamic systems , 1992 .

[4]  Washington Y. Ochieng,et al.  GPS Integrity and Potential Impact on Aviation Safety , 2003, Journal of Navigation.

[5]  Xiaoji Niu,et al.  Analysis and Modeling of Inertial Sensors Using Allan Variance , 2008, IEEE Transactions on Instrumentation and Measurement.

[6]  Andrew G. Dempster,et al.  Attitude determination by integration of MEMS inertial sensors and GPS for autonomous agriculture applications , 2011, GPS Solutions.

[7]  Arthur Gelb,et al.  Applied Optimal Estimation , 1974 .

[8]  Young C. Lee.  Analysis of Range and Position Comparison Methods as a Means to Provide GPS Integrity in the User Receiver , 1986 .

[9]  Mark G. Petovello,et al.  Performance Analysis of MEMS IMU/HSGPS/Magnetic Sensor Integrated System in Urban Canyons , 2005 .

[10]  A. Vershik,et al.  Nonholonomic problems and the theory of distributions , 1988 .

[11]  D. W. Allan,et al.  Statistics of atomic frequency standards , 1966 .

[12]  Dong-Hwan Hwang,et al.  Design of a low-cost attitude determination GPS/INS integrated navigation system , 2005 .

[13]  M. Petovello.  Real-time integration of a tactical-grade IMU and GPS for high-accuracy positioning and navigation , 2003 .

[14]  W. Baarda,et al.  A testing procedure for use in geodetic networks. , 1968 .

[15]  Bradford W. Parkinson,et al.  A Basis for the Development of Operational Algorithms for Simplified GPS Integrity Checking , 1987 .

[16]  Rodney A. Walker,et al.  GPS Fault Detection with IMU and Aircraft Dynamics , 2011, IEEE Transactions on Aerospace and Electronic Systems.

[17]  Aboelmagd Noureldin,et al.  Enhanced MEMS-IMU/odometer/GPS integration using mixture particle filter , 2011 .

[18]  Naser El-Sheimy,et al.  A combined algorithm of improving INS error modeling and sensor measurements for accurate INS/GPS navigation , 2006 .

[19]  N. El-Sheimy,et al.  Hybrid Extended Particle Filter (HEPF) for integrated civilian navigation system , 2008, 2008 IEEE/ION Position, Location and Navigation Symposium.

[20]  Jan Skaloud,et al.  Fault Detection and Isolation in Multiple MEMS-IMUs Configurations , 2012, IEEE Transactions on Aerospace and Electronic Systems.

[21]  Steve Hewitson,et al.  GNSS Receiver Autonomous Integrity Monitoring with a Dynamic Model , 2007, Journal of Navigation.

[22]  Mark A. Sturza,et al.  Navigation System Integrity Monitoring Using Redundant Measurements , 1988 .

[23]  Fan-Ren Chang,et al.  GPS fault detection and exclusion using moving average filters , 2004 .

[24]  G. T. Donovan,et al.  Position Error Correction for an Autonomous Underwater Vehicle Inertial Navigation System (INS) Using a Particle Filter , 2012, IEEE Journal of Oceanic Engineering.

[25]  Jan Wendel,et al.  A Performance Comparison of Tightly Coupled GPS/INS Navigation Systems based on Extended and Sigma Point Kalman Filters , 2005 .

[26]  Ling Yang,et al.  Outlier separability analysis with a multiple alternative hypotheses test , 2013, Journal of Geodesy.

[27]  Christian Eling,et al.  Development of an instantaneous GNSS/MEMS attitude determination system , 2012, GPS Solutions.

[28]  Drora Goshen-Meskin,et al.  Unified Approach to Inertial Navigation System Error Modeling , 1990 .

[29]  Inseok Hwang,et al.  A Survey of Fault Detection, Isolation, and Reconfiguration Methods , 2010, IEEE Transactions on Control Systems Technology.