A novel vehicle navigation system based on MSINS

Author

Sun, Feng ; Li, Qian ; Ben, Yueyang ; Gao, Wei

Author_Institution

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

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

1033

Lastpage

1038

Abstract

A new hybrid vehicle navigation system including Micro-Strapdown Inertial Navigation System (MSINS) and Global Position System (GPS) is proposed in this paper. MSINS is composed of micro mechanical gyro and accelerometer. In conventional GPS/ MSINS scheme, when GPS is not available, MSINS works alone, so the position error and velocity error rise quickly. In order to solve this problem, a new navigation scheme using the non-holonomic constraints for land vehicle applications is introduced. This method is effective to restrain the rising error and the average accuracy of position is less than 10 meter. The results of the simulation test and field test demonstrate the validity of this introduced navigation scheme.

Keywords

Global Positioning System; accelerometers; gyroscopes; inertial navigation; vehicles; GPS; Global Position System; MSINS; accelerometer; hybrid vehicle navigation system; land vehicle; micromechanical gyro; microstrapdown inertial navigation system; nonholonomic constraint; position error; velocity error; Accelerometers; Equations; Global Positioning System; Mathematical model; Vehicles; Velocity measurement; GPS; MSINS; Vehicle navigation; non-holonomic;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5985802

Filename

5985802