Performance evaluation of real-time MEMS INS/GPS integration with ZUPT/ZIHR/NHC for land navigation

Cheng Yueh Liu, Cheng An Lin, Kai-Wei Chiang, Shih Ching Huang, Chin Chia Chang, Jia Ming Cai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

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 languageEnglish
Title of host publication2012 12th International Conference on ITS Telecommunications, ITST 2012
Pages584-588
Number of pages5
DOIs
Publication statusPublished - 2012 Dec 1
Event2012 12th International Conference on ITS Telecommunications, ITST 2012 - Taipei, Taiwan
Duration: 2012 Nov 52012 Nov 8

Publication series

Name2012 12th International Conference on ITS Telecommunications, ITST 2012

Other

Other2012 12th International Conference on ITS Telecommunications, ITST 2012
CountryTaiwan
CityTaipei
Period12-11-0512-11-08

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications

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    Liu, C. Y., Lin, C. A., Chiang, K-W., Huang, S. C., Chang, C. C., & Cai, J. M. (2012). Performance evaluation of real-time MEMS INS/GPS integration with ZUPT/ZIHR/NHC for land navigation. In 2012 12th International Conference on ITS Telecommunications, ITST 2012 (pp. 584-588). [6425247] (2012 12th International Conference on ITS Telecommunications, ITST 2012). https://doi.org/10.1109/ITST.2012.6425247