Assistive inertial 3D positioning MEMS system

This paper describes the implementation and experimental validation of a new 3D miniaturized inertial navigator developed for human indoor and outdoor monitoring applications. Accuracy is a major concern, especially during GPS outages and indoor applications. In order to increase the inertial navigation system (INS) standalone operation period with acceptable accuracy during the GPS absence, signals received from sensors are filtered for reducing positioning errors. For validation, data achieved from the proposed navigator was compared with data achieved from a GPS/INS integrated navigator, both devices being used as remote systems. Unlike in our previous research, the case of the bi-dimensional model, when we managed to develop an optimizing tuning method for achieving the optimum level of decomposition of the Wavelet filter for data achieved from two channels, the attitude channel and the position channel, but not simultaneously, we are currently extending our research aiming to tune simultaneously data achieved from six detection channels, three accelerometers and three gyros.