Gps/ins System Integration
نویسنده
چکیده
In this paper, a technique for error estimation in a global positioning system and inertial navigation system (GPS/INS system) based on a low-cost inertial measurement unit (IMU) is offered. This technique is composed of Wavelet Transform (WT) and Adaptive Fuzzy System (AFS). The wavelet decomposition is used to de-noise the position and velocity components of the GPS and INS outputs. An AFS is introduced in this paper to estimate the position and velocity errors in the integrated system in order to provide accurate navigation information about the moving vehicle. Several data sets are processed in this paper, where the simulation results are based on MatLab7 programming language. Six AFS networks are used to process the position and velocity components. The average error value per sample was 0.0142, 0.0443, and 0.0108 m for position in X, Y, and Z axes respectively and 0.0077, 0.0223, and 0.0269 m/s for velocity in North, East, and Down directions respectively.
منابع مشابه
GPS/INS Integration for Vehicle Navigation based on INS Error Analysis in Kalman Filtering
The Global Positioning System (GPS) and an Inertial Navigation System (INS) are two basic navigation systems. Due to their complementary characters in many aspects, a GPS/INS integrated navigation system has been a hot research topic in the recent decade. The Micro Electrical Mechanical Sensors (MEMS) successfully solved the problems of price, size and weight with the traditional INS. Therefore...
متن کاملImprovement of Navigation Accuracy using Tightly Coupled Kalman Filter
In this paper, a mechanism is designed for integration of inertial navigation system information (INS) and global positioning system information (GPS). In this type of system a series of mathematical and filtering algorithms with Tightly Coupled techniques with several objectives such as application of integrated navigation algorithms, precise calculation of flying object position, speed and at...
متن کاملPerformance Analysis and Architecture Design of Vector-Based Ultra- Tightly Coupled GPS/INS Integration on satellite Faults
GPS vector receive make the tasks of signal tracking and navigation state estimation are integrated into an algorithm which can complement traditional scalar receiver tracking independent and parallel tracking disadvantage. Through integration with INS, the GPS signal in jamming or weak environment based on vector tracking ultra-tightly coupled GNSS/INS integration system has significant advant...
متن کاملGPS/Pseudolite/SDINS Integration Approach for Kinematic Applications
This paper discusses the introduction of pseudolites (ground-based GPS-like signal transmitters) in existing integrated GPS/INS systems in order to provide higher availability, integrity and accuracy in a local area. Even though integrated GPS/INS systems can overcome inherent drawbacks of each component system (line-ofsight requirement for GPS, and INS errors that grow with time), performance ...
متن کاملIntegration of Global Positioning System and Inertial Navigation System with Different Sampling Rate Using Adaptive Neuro Fuzzy Inference System
Integration of the Global Positioning System (GPS) and Inertial Navigation System (INS) has become increasingly common in the last two decades, because the characteristics of GPS and INS are complementary and the integration between both systems will maximize their advantages and minimize their weakness. Over time, inertial navigators drift from their preset alignments. Or, the initial alignmen...
متن کاملLand Vehicle Navigation with the Integration of GPS and Reduced INS: Performance Improvement with Velocity Aiding
The movement of a land vehicle is constrained as the vehicle always remains on the Earth surface and only experiences small pitch and roll angles. So the GPS/INS integrated system for land vehicle navigation could be reconfigured to be the integration of GPS and reduced INS to cut down the costs. In a reduced INS, the vertical accelerometer and two horizontal gyros could be omitted from the sys...
متن کامل