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Vehicle dynamics conditioning method on MEMS based integrated INS/GPS vehicle navigation system
Vehicle dynamics conditioning method on MEMS based integrated INS/GPS vehicle navigation system
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机译:基于MEMS的集成式INS / gps车辆导航系统的车辆动力学调节方法
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摘要
A method of compensating performance of low-cost MEMS (microelectro mechanical systems) inertial sensors in an integrated INS/GPS navigation system for automotive application is disclosed. The proposed method includes velocity and inertial sensor output conditions featured in ground vehicle dynamics. Using the conventional Kalman filter based INS/GPS system, implementation of the prescribed conditions in the present invention additionally to the GPS measurements shows accurate motion tracking even when GPS signal dropouts last for more than 2 minutes. Another aspect of the disclosure is an integrated INS/GPS navigation system which utilizes MEMS based inertial sensors for maintaining high position tracking accuracy even when a GPS signal is lost or unavailable for a long period of time by incorporating the predefined vehicle dynamics conditions when calculating optimum estimates through the Kalman filtering process.
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