GPS/INS for Logistics of Ship-Block

This paper describes the design and implementation of a low cost inertial navigation system (INS) using an inertial measurement unit (IMU), a digital compass, GPS, and an embedded system. The system has been developed for a transporter that load and unload ship blocks in a shipbuilding yard. When the transporter would move from place to place, they would periodically pass under obstructions that would obscure the GPS signal. This increases the error when estimating the position. Thus the INS has been used to improve position accuracy. INS is also capable of providing continuous estimates of the transporter\´s position and orientation. Even though IMU is typically very expensive, this INS is made of "low cost" components and the indirect Kalman filtering algorithm