Fault-Tolerant GPS/DR Integrated Navigation System Based on Heuristic Reduction of MEMS Inertial Measurement Unit Drift

Author

Zhang, Qiang ; Wan, Lei ; Pang, Yongjie

Author_Institution

Coll. of Autom., Harbin Eng. Univ., Harbin, China

fYear

2009

fDate

19-20 Dec. 2009

Firstpage

1

Lastpage

4

Abstract

An efficient, adaptive Kalman filter is presented based on heuristic reduction of MEMS inertial measurement unit drift, which can detect the failure of GPS, and reduce the drift of MEMS inertial measurement unit. The method applies in GPS/DR integrated navigation system, which pertains to the reduction of measurement errors in gyroscopes and accelerations used for tracking the position of vehicle when the GPS is unavailable.

Keywords

Global Positioning System; Kalman filters; accelerometers; fault tolerant computing; gyroscopes; inertial navigation; micromechanical devices; position control; road vehicles; GPS failure detection; Global Positioning System; Kalman filter; MEMS inertial measurement unit; dead reckoning navigation system; fault-tolerant navigation system; gyroscopes; heuristic drift reduction; vehicle position tracking; Acceleration; Accelerometers; Dead reckoning; Fault tolerant systems; Global Positioning System; Measurement units; Mechanical sensors; Micromechanical devices; Navigation; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-4994-1

Type

conf

DOI

10.1109/ICIECS.2009.5366427

Filename

5366427