Abstract
Reduced inertial sensor systems (RISS) have been introduced by many researchers as a low-cost, low-complexity sensor assembly that can be integrated with GPS to provide a robust integrated navigation system for land vehicles. In earlier works, the developed error models were simplified based on the assumption that the vehicle is mostly moving on a flat horizontal plane. Another limitation is the simplified estimation of the horizontal tilt angles, which is based on simple averaging of the accelerometers’ measurements without modelling their errors or tilt angle errors. In this paper, a new error model is developed for RISS that accounts for the effect of tilt angle errors and the accelerometer’s errors. Additionally, it also includes important terms in the system dynamic error model, which were ignored during the linearization process in earlier works. An augmented extended Kalman filter (EKF) is designed to incorporate tilt angle errors and transversal accelerometer errors. The new error model and the augmented EKF design are developed in a tightly-coupled RISS/GPS integrated navigation system. The proposed system was tested on real trajectories’ data under degraded GPS environments, and the results were compared to earlier works on RISS/GPS systems. The findings demonstrated that the proposed enhanced system introduced significant improvements in navigational performance.
Highlights
After its full operational capability was announced in 1995, the Global Positioning System (GPS) [1] became the dominant navigational system for land vehicles
The performance of the proposed improved tightly-coupled 3D Reduced inertial sensor systems (RISS)/GPS algorithm was examined on real road data using a low-cost micro-electro-mechanical system (MEMS)-based Crossbow IMU300CC along with odometry obtained from the vehicle’s OBDIIinterface using the Carchip data logger
The reference systems are based on the Honeywell HG1700 AG17 high-end tactical-grade inertial measurement unit (IMU), which is tightly integrated with the NovAtel OEM4 GPS receiver using the OEM4-G2 ProPak-G2plus
Summary
After its full operational capability was announced in 1995, the Global Positioning System (GPS) [1] became the dominant navigational system for land vehicles. To reduce the effect of the complex error characteristics of MEMS-based inertial sensors and to avoid the higher cost of using all six inertial sensors of an inertial measurement unit (IMU), efforts were made to utilize fewer inertial sensors to compute the navigation solution [27] This system is referred to as the reduced inertial sensor system (RISS), and its details can be found in [8,14,28,29]. An improved EKF-based tightly-coupled RISS and GPS integration scheme is proposed, where an enhanced error model is developed, which considers additional important terms during the linearization of system model, leading to better positional accuracy. The results show improved positional accuracy during long GPS outages, where the system maintained reliable accuracy by making use of the most recent sensor biases estimated by EKF
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