GPS/INS

About: GPS/INS is a research topic. Over the lifetime, 3554 publications have been published within this topic receiving 62784 citations.

Optimizing of ANFIS for estimating INS error during GPS outages

Abstract: Global positioning system (GPS) has been extensively used for land vehicle navigation systems. However, GPS is incapable of providing permanent and reliable navigation solutions in the presence of signal evaporation or blockage. On the other hand, navigation systems, in particular, inertial navigation systems (INSs), have become important components in different military and civil applications due to the recent advent of micro-electro-mechanical systems (MEMS). Both INS and GPS systems are often paired together to provide a reliable navigation solution by integrating the long-term GPS accuracy with the short-term INS accuracy. This article presents an alternative method to integrate GPS and INS systems and provide a robust navigation solution. This alternative approach to Kalman filtering (KF) utilizes artificial intelligence based on adaptive neuro-fuzzy inference system (ANFIS) to fuse data from both systems and estimate position and velocity errors. The KF is usually criticized for working only under p...

Multi-sensor personal navigator supported by human motion dynamics model

Abstract: This paper presents preliminary results of a prototype design and implementation of a multi-sensor personal navigator suitable for navigation in open areas and confined environments. This work, supported by the National Geospatial-Intelligence Agency (NGA), is focused on forming theoretical foundations for such a system by developing the algorithmic concept of a basic GPS-based, Micro-electro-mechanical inertial measurement unit (MEMS IMU)-augmented personal navigator system with an open-ended architecture, which would be able to incorporate additional navigation and imaging sensor data, extending the system's operations to indoor environments. The accuracy requirement is considered at 3-5 m CEP (circular error probable). In the current system design and implementation, the following sensors are integrated in the tightly coupled Extended Kalman Filter: GPS pseudoranges, Crossbow IMU400C, PTB220A barometer and Azimuth 1000 digital compass. In order to bridge GPS signal gaps in impeded environments, the dynamic model of human locomotion is currently included in the system architecture. The system is trained under the open sky conditions, where GPS signals are available, and is subsequently used to support navigation when GPS signals are obstructed. The calibrated model of stride length and stride interval extracted from the test data provided by GPS/IMU, and heading information from compass and IMU offer dead reckoning navigation, facilitating bridging of GPS gaps.

INS/GPS integrated navigation for wheeled agricultural robot based on sigma-point Kalman Filter

Abstract: This paper describes a numerical robust and computational efficient square-root central difference Kalman filter (SRCDKF) and put it into the application of state estimation of Inertial Navigation System (INS)/GPS integrated navigation for wheeled agricultural robot to overcome the flaws exist in EKF (Extended Kalman Filter). A standard INS mechanization with quaternion form attitude expression is introduced and a GPS antenna position compensated observation model is used. Based on the model above, both EKF and SRCDKF are implemented, and their performances are compared through simulation under several situations. Results indicate that the SRCDKF is much more robust and superior than EKF in the existence of large initial heading errors, short period of GPS outrage and low-cost IMU (Inertial Measurement Unit). It based a good foundation for the accurate and robust control of the agricultural robot.

GPS accuracy adjustment to mitigate multipath problems for MEMS based integrated INS/GPS navigation systems

Abstract: A method of GPS accuracy adjustment for an integrated INS/GPS navigation system which utilizes microelectro mechanical systems (MEMS) based inertial sensors to mitigate multipath problems arising when a vehicle is in an area with many high-rise buildings is disclosed. Even when GPS measurement output values are deviated from that expected, the INS/GPS navigation system uses as many measurement outliers as possible without discarding, unless they are obvious error values. The measurement outliers occur when the integrated INS/GPS navigation system receives GPS signals which have transmitted through multipaths such as reflection by buildings, since the signal path lengths vary. Even in such a condition, rather than simply discarding such measurement outliers, the method utilizes the measurement outliers while adjusting the accuracy thereof depending on the degree of deviation. Since the integrated INS/GPS navigation system is able to utilize both the INS output and the GPS measurement, it is possible to maintain a practical level of accuracy in the position tracking when a vehicle is in an area of tall buildings.