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

2012 12th International Conference on ITS Telecommunications Pub Date : 2012-12-01 DOI:10.1109/ITST.2012.6425247

Cheng-Yueh Liu, Cheng-An Lin, K. Chiang, S. Huang, Chin-Chia Chang, Jia-Ming Cai

{"title":"Performance evaluation of real-time MEMS INS/GPS integration with ZUPT/ZIHR/NHC for land navigation","authors":"Cheng-Yueh Liu, Cheng-An Lin, K. Chiang, S. Huang, Chin-Chia Chang, Jia-Ming Cai","doi":"10.1109/ITST.2012.6425247","DOIUrl":null,"url":null,"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.","PeriodicalId":143706,"journal":{"name":"2012 12th International Conference on ITS Telecommunications","volume":"84 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 12th International Conference on ITS Telecommunications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ITST.2012.6425247","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 11

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.

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

基于ZUPT/ZIHR/NHC的陆地导航实时MEMS INS/GPS集成性能评价

INS/GPS组合系统已成为导航技术研究领域最受欢迎的方法之一。本文旨在开发一种基于PC平台的低成本实时INS/GPS综合导航系统，并对实时系统开发中遇到的诸多问题进行了综述。为了满足低成本和小尺寸的要求，系统采用了MEMS IMU。该系统利用Auto ZUPT/ZIHR作为EKF的精确更新源，以提高GPS信号阻塞时导航解决方案的精度。最后，在市中心进行了多种现场测试，包括ZUPT/ZIHR和NHC辅助下的纯INS、简单INS/GPS和ZUPT/ZIHR和NHC辅助下的INS/GPS。初步结果表明，采用频繁ZUPT/ZIHR的系统在低成本IMU下，在不需要GPS辅助的情况下，可在自由惯性模式下提供稳定的运动运行性能;在GPS拒绝区应用自动ZUPT/ZIHR和NHC时，INS/GPS集成方案的性能提高了50%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文去求助

来源期刊

2012 12th International Conference on ITS Telecommunications

自引率

0.00%

发文量