Abstract
INS/GPS integrated system has been one of the most popular methodologies in the research field of navigation technology. This paper aims at developing a real-time low-cost INS/GPS integrated navigator based on PC platform and reviewing many problems encountered in the development of real time system. A MEMS IMU is applied in the system to meet the requirements of low cost and small size. The proposed system utilizes Auto ZUPT/ZIHR as an accurate update source for EKF to improve the accuracy of navigation solutions during GPS signal blockages. In the end, various field tests which include a pure INS aided by ZUPT/ZIHR and NHC, a simple INS/GPS and an INS/GPS aided by ZUPT/ZIHR and NHC are conducted in downtown. The preliminary results illustrates the proposed system with frequent ZUPT/ZIHR provides a stable performance operating kinematically in free inertial mode without the aiding of GPS by 15 minutes with a low-cost IMU and the INS/GPS integrated solutions are improved by 50% when automatic ZUPT/ZIHR and NHC are applied in GPS denied areas.
| Original language | English |
|---|---|
| Title of host publication | 2012 12th International Conference on ITS Telecommunications, ITST 2012 |
| Pages | 584-588 |
| Number of pages | 5 |
| DOIs | |
| Publication status | Published - 2012 Dec 1 |
| Event | 2012 12th International Conference on ITS Telecommunications, ITST 2012 - Taipei, Taiwan Duration: 2012 Nov 5 → 2012 Nov 8 |
Publication series
| Name | 2012 12th International Conference on ITS Telecommunications, ITST 2012 |
|---|
Other
| Other | 2012 12th International Conference on ITS Telecommunications, ITST 2012 |
|---|---|
| Country | Taiwan |
| City | Taipei |
| Period | 12-11-05 → 12-11-08 |
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All Science Journal Classification (ASJC) codes
- Computer Networks and Communications
Cite this
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Performance evaluation of real-time MEMS INS/GPS integration with ZUPT/ZIHR/NHC for land navigation. / Liu, Cheng Yueh; Lin, Cheng An; Chiang, Kai-Wei; Huang, Shih Ching; Chang, Chin Chia; Cai, Jia Ming.
2012 12th International Conference on ITS Telecommunications, ITST 2012. 2012. p. 584-588 6425247 (2012 12th International Conference on ITS Telecommunications, ITST 2012).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Performance evaluation of real-time MEMS INS/GPS integration with ZUPT/ZIHR/NHC for land navigation
AU - Liu, Cheng Yueh
AU - Lin, Cheng An
AU - Chiang, Kai-Wei
AU - Huang, Shih Ching
AU - Chang, Chin Chia
AU - Cai, Jia Ming
PY - 2012/12/1
Y1 - 2012/12/1
N2 - INS/GPS integrated system has been one of the most popular methodologies in the research field of navigation technology. This paper aims at developing a real-time low-cost INS/GPS integrated navigator based on PC platform and reviewing many problems encountered in the development of real time system. A MEMS IMU is applied in the system to meet the requirements of low cost and small size. The proposed system utilizes Auto ZUPT/ZIHR as an accurate update source for EKF to improve the accuracy of navigation solutions during GPS signal blockages. In the end, various field tests which include a pure INS aided by ZUPT/ZIHR and NHC, a simple INS/GPS and an INS/GPS aided by ZUPT/ZIHR and NHC are conducted in downtown. The preliminary results illustrates the proposed system with frequent ZUPT/ZIHR provides a stable performance operating kinematically in free inertial mode without the aiding of GPS by 15 minutes with a low-cost IMU and the INS/GPS integrated solutions are improved by 50% when automatic ZUPT/ZIHR and NHC are applied in GPS denied areas.
AB - INS/GPS integrated system has been one of the most popular methodologies in the research field of navigation technology. This paper aims at developing a real-time low-cost INS/GPS integrated navigator based on PC platform and reviewing many problems encountered in the development of real time system. A MEMS IMU is applied in the system to meet the requirements of low cost and small size. The proposed system utilizes Auto ZUPT/ZIHR as an accurate update source for EKF to improve the accuracy of navigation solutions during GPS signal blockages. In the end, various field tests which include a pure INS aided by ZUPT/ZIHR and NHC, a simple INS/GPS and an INS/GPS aided by ZUPT/ZIHR and NHC are conducted in downtown. The preliminary results illustrates the proposed system with frequent ZUPT/ZIHR provides a stable performance operating kinematically in free inertial mode without the aiding of GPS by 15 minutes with a low-cost IMU and the INS/GPS integrated solutions are improved by 50% when automatic ZUPT/ZIHR and NHC are applied in GPS denied areas.
UR - http://www.scopus.com/inward/record.url?scp=84874506359&partnerID=8YFLogxK
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U2 - 10.1109/ITST.2012.6425247
DO - 10.1109/ITST.2012.6425247
M3 - Conference contribution
SN - 9781467330701
T3 - 2012 12th International Conference on ITS Telecommunications, ITST 2012
SP - 584
EP - 588
BT - 2012 12th International Conference on ITS Telecommunications, ITST 2012
ER -