On-line smoothing for an Integrated Navigation System with low-cost MEMS inertial sensors

Kai-Wei Chiang, Thanh Trung Duong, Jhen Kai Liao, Ying-Chih Lai, Chin Chia Chang, Jia Ming Cai, Shih Ching Huang

Research output: Contribution to journalArticle

28 Citations (Scopus)

Abstract

The integration of the Inertial Navigation System (INS) and the Global Positioning System (GPS) is widely applied to seamlessly determine the time-variable position and orientation parameters of a system for navigation and mobile mapping applications. For optimal data fusion, the Kalman filter (KF) is often used for real-time applications. Backward smoothing is considered an optimal post-processing procedure. However, in current INS/GPS integration schemes, the KF and smoothing techniques still have some limitations. This article reviews the principles and analyzes the limitations of these estimators. In addition, an on-line smoothing method that overcomes the limitations of previous algorithms is proposed. For verification, an INS/GPS integrated architecture is implemented using a low-cost micro-electro-mechanical systems inertial measurement unit and a single-frequency GPS receiver. GPS signal outages are included in the testing trajectories to evaluate the effectiveness of the proposed method in comparison to conventional schemes.

Original languageEnglish
Pages (from-to)17372-17389
Number of pages18
JournalSensors (Switzerland)
Volume12
Issue number12
DOIs
Publication statusPublished - 2012 Dec 1

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Micro-Electrical-Mechanical Systems
Geographic Information Systems
Global Positioning System
Navigation systems
navigation
smoothing
microelectromechanical systems
MEMS
Global positioning system
inertial navigation
Inertial navigation systems
Costs and Cost Analysis
sensors
Sensors
Costs
Kalman filters
Mobile Applications
Systems Integration
systems integration
Units of measurement

All Science Journal Classification (ASJC) codes

  • Analytical Chemistry
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering

Cite this

Chiang, Kai-Wei ; Duong, Thanh Trung ; Liao, Jhen Kai ; Lai, Ying-Chih ; Chang, Chin Chia ; Cai, Jia Ming ; Huang, Shih Ching. / On-line smoothing for an Integrated Navigation System with low-cost MEMS inertial sensors. In: Sensors (Switzerland). 2012 ; Vol. 12, No. 12. pp. 17372-17389.
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On-line smoothing for an Integrated Navigation System with low-cost MEMS inertial sensors. / Chiang, Kai-Wei; Duong, Thanh Trung; Liao, Jhen Kai; Lai, Ying-Chih; Chang, Chin Chia; Cai, Jia Ming; Huang, Shih Ching.

In: Sensors (Switzerland), Vol. 12, No. 12, 01.12.2012, p. 17372-17389.

Research output: Contribution to journalArticle

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