GPS/INS integration for GF-IMU of twelve mono-axial accelerometers configurations

Author

Edwan, Ezzaldeen ; Knedlik, Stefan ; Zhou, Junchuan ; Loffeld, Otmar

fYear

2009

fDate

19-19 March 2009

Firstpage

183

Lastpage

188

Abstract

In this paper we present an integration scheme and performance analysis for the integration of a gyro-free inertial measurement unit (GF-IMU) with a GPS receiver. The GF-IMU is composed of twelve separate mono-axial accelerometers. Using such a GF-IMU produces a vector, which we call the angular information vector that consists of 3D angular acceleration terms and six quadratic terms of angular velocities. Traditional GPS/INS integration using error state space model has been modified to fit this special IMU. Simulation results are presented.

Keywords

Global Positioning System; accelerometers; inertial navigation; radio receivers; state-space methods; 3D angular acceleration; GF-IMU; GPS-INS integration; Global Positioning System receiver; error state space model; gyrofree inertial measurement unit; monoaxial accelerometer configuration; Acceleration; Accelerometers; Angular velocity; Conferences; Filters; Global Positioning System; Gyroscopes; Measurement units; Satellite navigation systems; Sea measurements; GF-IMU; GPS/INS integration; distributed accelerometers; gyro-free IMU; nongyroscopic IMU;

fLanguage

English

Publisher

ieee

Conference_Titel

Positioning, Navigation and Communication, 2009. WPNC 2009. 6th Workshop on

Conference_Location

Hannover

Print_ISBN

978-1-4244-3292-9

Electronic_ISBN

978-1-4244-3293-6

Type

conf

DOI

10.1109/WPNC.2009.4907825

Filename

4907825