The Effects of Using Heading Measurement during Alignment of a Low-cost IMU/GPS system

被引：0
|
作者：
Choi, Moonseok [1 ]
Won, Daehee [2 ]
Sung, Sangkyoung [1 ]
Lee, Jiyun [3 ]
Kim, Jeongrae [4 ]
Park, Jun-Pyo [5 ]
Park, Heung-Won [5 ]
Lee, Young Jae [1 ]
机构：
[1] Konkuk Univ, Seoul, South Korea
[2] Univ Colorado, Boulder, CO 80309 USA
[3] Korea Adv Inst Sci & Technol, Seoul, South Korea
[4] Koera Aerosp Univ, Seoul, South Korea
[5] Agcy Def Dev, Washington, DC USA
来源：
PROCEEDINGS OF THE 26TH INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS 2013) | 2013年
关键词：
D O I：
暂无
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Due to the development of MEMS, SDINS (Strapdown Inertial Navigation System) is applied in many fields by using low-grade MEMS IMU. However, low-grade MEMS IMU has a big initial error and low long-term stability. Therefore, a system combines external sensors like GPS, which provides stable navigation results have been developed rather than a system operated in single. Due to the development of techniques in GPS receiver, low-grade GPS does not only provide the velocity and position but also the exact azimuth calculated by velocity vectors. In combination of low-grade IMU and GPS, it is important to estimate the initial attitude of IMU, and it is possible to upgrade the steps of matrix if only we can obtain additional values. This paper presents a method for improving the performance of the yaw axis in the initial attitude estimation by implementing a low-cost IMU in the alignment process. The results showed that alignment was selected using a magnetic sensor and GPS heading measurements, depending on the speed of the vehicle.
引用
收藏
页码：2175 / 2179
页数：5
相关论文
共 50 条
  • [21] Low-Cost IMU Error Intercorrection Method for Verticality Measurement
    Pang, Yang
    Song, Ningfang
    Yang, Yanqiang
    Liang, Jian
    Zhang, Hao
    Tian, Longjie
    Liu, Zhenyue
    Ma, Fu
    IEEE Transactions on Instrumentation and Measurement, 2021, 70
  • [22] In-Motion Rapid and Robust Heading Alignment of Low-Cost Inertial Measurement Units Using Position Loci for Indoor Navigation
    He, Qianen
    He, Guobao
    Yang, Hongze
    Chen, Shen
    Wang, Jiaqing
    Liu, Sheng
    IEEE SENSORS JOURNAL, 2024, 24 (12) : 19454 - 19465
  • [23] Handwriting Trajectory Reconstruction Using Low-Cost IMU
    Pan, Tse-Yu
    Kuo, Chih-Hsuan
    Liu, Hou-Tim
    Hu, Min-Chun
    IEEE TRANSACTIONS ON EMERGING TOPICS IN COMPUTATIONAL INTELLIGENCE, 2019, 3 (03): : 261 - 270
  • [24] Improving the Positioning Accuracy of a Low Cost MEMS/GPS Integrated System Using GPS Heading Sensors
    Huang, Yun-Wen
    Li, Chia-Yuan
    Wu, Hsiao-Wen
    Chang, Hsiu-Wen
    Hu, Han-Wei
    Chiang, Kai-Wei
    PROCEEDINGS OF THE 2007 NATIONAL TECHNICAL MEETING OF THE INSTITUTE OF NAVIGATION - NTM 2007, 2007, : 510 - 516
  • [25] Smart Real-Time Autonomous Navigation System using integration of MEMS-based Low-Cost IMU/GPS
    Nagui, Nader
    Attallah, Omneya
    Zaghloul, Mohamed S.
    Morsi, Iman
    2020 11TH IEEE ANNUAL UBIQUITOUS COMPUTING, ELECTRONICS & MOBILE COMMUNICATION CONFERENCE (UEMCON), 2020, : 855 - 861
  • [26] In Motion Low-Cost IMU-to-Vehicle Alignment for Intelligent Vehicle Applications Using Kalman Filter
    Nogueira, Dannylo W. P.
    Bacurau, Rodrigo M.
    Lima, Danilo A.
    Silva, Felipe O.
    Neto, Arthur M.
    2021 IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE (ITSC), 2021, : 92 - 97
  • [27] Multi-rate Vehicle Side Slip Angle Estimation Using Low-cost GPS/IMU
    Hong, Sung Bong
    Kang, Chang Mook
    Lee, Seung-Hi
    Chung, Chung Choo
    2017 17TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2017, : 35 - 40
  • [28] Flight Controller as a Low-Cost IMU Sensor for Human Motion Measurement
    Iluk, Artur
    SENSORS, 2023, 23 (04)
  • [29] Improve the accuracy of vehicle velocity estimation based on low-cost GPS/IMU by GPS course angle
    Yuan, Liangxin
    Wang, Yuan
    Du, Peng
    Lian, Xiaomin
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2023, 237 (08) : 1975 - 1993
  • [30] FAirWrite - Movement Reconstruction and Recognition Using a Low-cost IMU
    Younas, Junaid
    Margarito, Hector
    Lukowicz, Paul
    2022 IEEE INTERNATIONAL CONFERENCE ON PERVASIVE COMPUTING AND COMMUNICATIONS WORKSHOPS AND OTHER AFFILIATED EVENTS (PERCOM WORKSHOPS), 2022,
12345