Title :
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
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;
Conference_Titel :
Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4994-1
DOI :
10.1109/ICIECS.2009.5366427
