The Performance Evaluation of a Real-time Low-cost MEMS INS/GPS Integrated Navigator with Aiding from ZUPT/ZIHR and Non-holonomic Constraint for Land Applications

摘要

INS/GPS integrated system has been one of the mostpopular methodologies in the research field of navigationtechnology. This paper aims at developing a real time lowcost INS/GPS integrated navigator based on PC platformand reviewing many problems encountered in thedevelopment of real time system. A MEMS IMU isapplied in the system in order to meet the requirements oflow cost and small size. The proposed system utilizesAuto ZUPT/ZIHR as a accurate update source forextended Kalman Filter (EKF) to improve the accuracy ofnavigation solutions during GPS signal blockages. . In theend, various field tests which include a pure INS aided byZUPT/ZIHR and NHC, a simple INS/GPS and anINS/GPS aided by ZUPT/ZIHR and NHC are conductedin one open field and roads in downtown. Thepreliminary results presented in this study illustrates theproposed system with frequent ZUPT/ZIHR provides astable performance which operates kinematically in freeinertial mode without the aiding of GPS by 15 minuteswith a low cost IMU and the INS/GPS integratedsolutions are improved by 50% when automaticZUPT/ZIHR and NHC are both applied in GNSS deniedenvironments.