New Approaches for Accuracy Enhancement of MEMS Based INS Integrated with GPS for Land Vehicles

摘要

Vehicle navigation systems often employ an inertial measuring unit (IMU) to complement the Global Positioning System (GPS). The added redundancy of the inertial navigation system (INS) can be invaluable to the end user; and as such, the integration of GPS with inertial sensors has become a standard practice. The relatively high cost of INS has been preventing their use for land vehicle applications. Recently, MEMS-based INS has become commercially available at low cost. Compared to expensive navigational or tactical grade INS, low-cost MEMS-based sensors are more susceptible to long-term and short-term (low and high frequency) errors that present themselves as correlated noise. Signal processing techniques such as, optimal low-pass filtering and wavelet de-noising have been successful at minimizing the shortterm errors, but they have not been able to effectively eliminate the long-term errors mixed with the dynamic motion of the vehicle. The primary objective of this paper is to develop: (1) a novel inertial sensor accuracy