A cost-effective design approach for integrated positioning system

This paper presents an approach to the design of a low cost positioning system aided by inertial sensors. Low cost inertial sensors can be used in the positioning system by applying a new sensor selection criterion and an integration algorithm. The integrated navigation system is designed using a positioning error estimator. When low precision inertial sensors are selected, the design is able to quantify GPS errors and inertial sensors´ position data using their frequency domain attributes. The estimator design approach is demonstrated using system simulations and experiments.