Improving the positioning accuracy of DGPS/MEMS IMU integrated systems utilizing cascade de-noising algorithm

Kai-Wei Chiang, Haiying Hou, Xiaoji Niu, Naser El-Sheimy

Research output: Contribution to conferencePaperpeer-review

10 Citations (Scopus)

Abstract

Global Positioning System (GPS) and Inertial Measurement Unit (IMU) augmented systems provide an enhanced navigation system that has superior performance in comparison with the stand-alone systems (i.e. GPS or Inertial Navigation System (INS)) as it overcome each of their limitations. Most GPS/IMU systems are integrated using the Kaiman filter approach. In general, the quality of the final estimates of the state depends therefore on the quality of both the measurements being made and the models being used. Generally speaking, the long term errors of an INS can be reduced through the integration with GPS. On the contrary, the short term errors of an INS can be reduced by both the numerical integration process of the INS mechanization and pre-filtering the IMU raw data. Wavelet based denoising techniques have been applied to reduce the remaining short term errors. However, traditional wavelet denoising algorithm has certain limitations in removing undesired high frequency disturbance. Therefore, a novel denoising algorithm, cascade denoising algorithm, is presented in this article to overcome such limitations and improve the positioning accuracy during GPS outage. The proposed method has been tested using MEMS IMU data collected in land-vehicle. The results demonstrated that the positioning accuracy during eight out often GPS outage periods was successfully improved from 5% to 20% using proposed cascade denoising technique.

Original languageEnglish
Pages809-818
Number of pages10
Publication statusPublished - 2004 Dec 1
Event17th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2004 - Long Beach, CA, United States
Duration: 2004 Sep 212004 Sep 24

Other

Other17th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2004
CountryUnited States
CityLong Beach, CA
Period04-09-2104-09-24

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Fingerprint Dive into the research topics of 'Improving the positioning accuracy of DGPS/MEMS IMU integrated systems utilizing cascade de-noising algorithm'. Together they form a unique fingerprint.

Cite this