Abstract
Global Positioning System and Inertial Navigation System can be used to determine position and velocity. A Global Positioning System module is able to accurately determine position without sensor drift, but its usage is limited in heavily urbanized environments and heavy vegetation. While high-cost tactical-grade Inertial Navigation System can determine position accurately, low-cost micro-electro-mechanical system Inertial Navigation System sensors are plagued by significant errors. Global Positioning System is coupled with Inertial Navigation System to correct the errors, while Inertial Navigation System itself can be used to provide navigation solution during a Global Positioning System outage. Data from Global Positioning System and Inertial Navigation System can be integrated by extensive Kalman filtering, using loosely coupled integration architecture to provide navigation solutions. In this study, real-time low-cost loosely coupled micro-electro-mechanical system Inertial Navigation System/Global Positioning System sensors have been used for pedestrian navigation. Trial runs of Global Positioning System outages have been conducted to determine the accuracy of the system described. The micro-electro-mechanical system Inertial Navigation System/Global Positioning System can successfully project a trajectory during a Global Positioning System outage and produces a root mean square error of 9.35 m in latitude direction and 10.8 m in longitude direction. This technology is very suitable for visually impaired pedestrians.
Highlights
Global Positioning System (GPS) and Inertial Navigation System (INS) are widely used to determine position, velocity, and time (PVT) for navigation applications
The drift of the trajectory was caused by the bias instability of the micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) sensor
When the GPS signal was cut, the error of the INS/GPS increased due to sensor error
Summary
Global Positioning System (GPS) and Inertial Navigation System (INS) are widely used to determine position, velocity, and time (PVT) for navigation applications. GPS is a satellite-based navigation system which provides accurate positioning information. GPS has superior long-term performance in minimizing navigational errors, it has poor shortterm accuracy when a GPS signal is unavailable. In order to overcome any temporary outage of GPS signal, GPS may be coupled with INS in navigation systems. INS has good short-term accuracy, but it has poor long-term performance, making integration of INS and GPS system ideal. When the GPS signal is unavailable, INS can provide short-term robust
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
