A cost-effective design approach for integrated positioning system

This paper presents an approach to the design of a low cost positioning system aided by inertial sensors. Low cost inertial sensors can be used in the positioning system by applying a new sensor selection criterion and an integration algorithm. The integrated navigation system is designed using a positioning error estimator. When low precision inertial sensors are selected, the design is able to quantify GPS errors and inertial sensors' position data using their frequency domain attributes. The estimator design approach is demonstrated using system simulations and experiments.