Wide-Range GPS/INS Integrated System and Experiment
Date Issued
2012
Date
2012
Author(s)
Chuang, Siou-Min
Abstract
Nowadays, the Global Positioning System (GPS) has become the most widely used and important navigation-aided systems. However, using GPS in the city is often limited by satellite signal quality. GPS receiver cannot provide precise and real-time positioning information when its signal is blocked. To deal with this problem, another independent navigation system INS (Inertial Navigation System) can be adopted and the GPS/INS integrated system may be developed to provide the positioning information during the GPS signal outage.
Although INS is autonomous, the errors of using INS would increase with respect to time due to the sensor errors such as bias, scale factor, and misalignment in the integration procedure. In this thesis, the static methods are used to calibrate the gyro and accelerometer. Then, the unknown parameters of INS may be estimated and corrected by GPS signal by using the extend Kalman filter in dynamic situation. Alternatively, when the GPS signal is outage, the INS can still provide positioning information. The integration system can not only solve the sensor’s problem but also enhance the performance of the navigation system significantly.
In this thesis, the 2-D GPS/INS integrated system is developed for vehicles moving on the plane. Usually, the navigation coordinates are determined on local plane, which is a tangent plane to the Earth ellipsoid at a specific point. If the distance between reference position and the current position is large, the corresponding local plane becomes invalid. To deal with this problem, we choose a new tangent plane timely and the errors can be reduced significantly.
In order to test the applicability of our design, a wide-range road test (from Taipei to Pingtung) and a tunnel road test were performed by integrating a GPS receiver, inertial sensors and an electronic compass. The performance of the algorithm is verified by the experimental results.
Subjects
GPS/INS
Kalman filter
IMU calibration
Type
thesis
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