High-Performance Navigation System with Integration of Low-Precision MEMS INS and General-Purpose GPS

摘要

In this paper, we propose a new configuration for a strap-down, integrated INS/GPS (Inertial Navigation System/ Global Positioning System) navigation system. It is aimed at general-purpose use, and utilizes MEMS (microelectro-mechanical system) sensors and a quaternion-based model that enable the development of a precise system with a degree of portability that traditional INS/GPS devices cannot achieve. In order to examine the effectiveness of our system, we built a prototype instrument and performed an experiment comparing its performance with GAIA, an ultra high-precision INS/GPS device developed by the Japan Aerospace Exploration Agency (JAXA). The results show that our small, light and low-cost system is applicable to general-purpose use, having a position error of only a few meters and under 2 degrees of roll and pitch error, which is sufficiently precise for the general control of moving objects.