Real-time implementation of GPS aided low-cost strapdown inertial navigation system

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 61, Issue 1-4, 2011, Pages 527-544

  Sahawneh, L R ^a   Al Jarrah, M A ^a   Assaleh, K ^a   Abdel Hafez, Mamoun F ^a  

^a AMERICAN UNIVERSITY OF SHARJAH   (United Arab Emirates)

Author keywords

Inertial navigation; INS GPS; Low cost; Strapdown

Indexed keywords

COMMERCIAL OFF THE SHELVES; DIRECTION COSINE; GEOGRAPHIC FRAME; GPS DATA; GPS/IMU; INERTIAL MEASUREMENT UNIT; INERTIAL NAVIGATIONS; INS/GPS; LINEAR KALMAN FILTERS; LOW-COST; MATHEMATICAL FRAMEWORKS; MATHEMATICAL MODELING; ORIENTATION ANGLES; REAL-TIME IMPLEMENTATIONS; RELIABLE PERFORMANCE; STRAP-DOWN INERTIAL NAVIGATION SYSTEMS; STRAPDOWN;

COSTS; ERRORS; GLOBAL POSITIONING SYSTEM; INERTIAL NAVIGATION SYSTEMS; MACHINERY; MECHANIZATION; REAL TIME CONTROL; SENSORS; UNITS OF MEASUREMENT;

NAVIGATION;

EID: 79951511877     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-010-9501-0     Document Type: Conference Paper

References (19)

1. A Noureldin TB Karamat MD Eberts A El-Shafie 2009 Performance enhancement of MEMS-based INS/GPS integration for low-cost navigation applications IEEE Trans. Veh. Technol. 58 3 1077 1096 10.1109/TVT.2008.926076
2. Schelling, R.: A low-cost angular rate sensor for automotive applications in surface micromachining technology. In: Third Annual International Conference on Advanced Microsystems for Automotive Applications Proceedings (1999)
3. Wu, Z.C., Wang, Z.F., Ge, Y.: Gravity based online calibration of monolithic tri-axial accelerometers gain and offset drift. In: Proceedings of 4th World Congress on Intelligent Control and Automation (2002)
4. Chatfield, A.B.: Fundamentals of High Accuracy Inertial Navigation. American Institute of Aeronautics and Astronautics, Reston (1997)
5. Skog, I., Handel, P.: Calibration of MEMS inertial measurement unit. In: XVII IMEKO World Congress, Metrology for a Sustainable Development (2006)
6. Sukkarieh, S.: Low Cost, High Integrity, Aided Inertial Navigation Systems for Autonomous Land Vehicles. Ph.D. dissertation, Mechanical and Mechatronic Engineering, Australian Centre for Field Robotics, The University of Sydney, Sydney, Australia (2000)
7. Titterton, D., Weston, W.: Strapdown Inertial Navigation Technology, 2nd edn. The Institute of Electrical Engineers (IEE), Virginia (2004)
8. PG Savage 2006 A unified mathematical framework for strapdown algorithm design J. Guid. Control Dyn. 29 2 237 249 10.2514/1.17112
9. Kong, X.: Inertial Navigation System Algorithms for Low Cost IMU. Ph.D. dissertation, Aerospace, Mechanical and Mechatronic Engineering, Australian Centre for Field Robotics, The University of Sydney, Sydney, Australia (2000)
10. DG Meskin IY Bar-Ithack 1992 Unified approach to inertial navigation system error modeling J. Guid. Control Dyn. 15 3 648 653 0775.93011 10.2514/3.20887
11. Hung, J.C., Thacher, J.R., White, H.V.: Calibration of accelerometer triad of an IMU with drifting Z-accelerometer bias. In: Proceeding NAECON 1989, IEEE Aerospace and Electronics Conference, vol. 1, pp. 153-158 (1989) (Pubitemid 20616612)
12. Rogers, R.M.: Applied Mathematics in integrated Navigation Systems, 2nd edn. AIAA Education Series (2003)
13. S Baselgaal L Garcia-Asenjoa P Garriguesa JL Lermaa 2009 Inertial navigation system data filtering prior to GPS/INS integration J. Navig. 62 4 711 720 10.1017/S0373463309990117
14. IY Bar-Itzhack 1981 Identity between INS position and velocity error models J. Guid. Control 4 568 570 10.2514/3.56106
15. Analog Devices Inc.: ADXL202EB Dual Axis Accelerometer Evaluation Board Data Sheet (Rev. A). Online: http://www.analog.com
16. Analog Devices Inc.: ADXRS150EB Single Chip Rate Gyro Evaluation Board. Online: http://www.analog.com
17. Sahawneh, L.: Real-time implementation of gps aided low-cost strapdown inertial navigation system. Master's thesis, College of Engineering, American University of Sharjah (2009)
18. Excelmachinetools Inc.: Excel Dividing Heads Semi Universal and HV6 Excel Precision Rotary Tables, 1995-2008
19. Maybeck, P.S.: Stochastic Models, Estimation, and Control, vols. 1 and 2. Academic (1982)