GPSReduced IMU with a Local Terrain Predictor in Land Vehicle Navigation
Joint Authors
Petovello, Mark G.
Cannon, M. Elizabeth
Sun, Debo
Source
International Journal of Navigation and Observation
Issue
Vol. 2008, Issue 2008 (31 Dec. 2008), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2008-11-03
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
In order to reduce the cost and volume of land vehicle navigation (LVN) systems, a “reduced” inertial measurement unit (IMU) consisting of only one vertical gyro and two or three accelerometers is generally used and is often integrated with other sensors.
Since there are no horizontal gyros in a reduced IMU, the pitch and roll cannot be calculated or observed directly from the inertial data, and the navigation performance is thus affected by local terrain variations.
In this work, a reduced IMU is integrated with global positioning system (GPS) data and a novel local terrain predictor (LTP) algorithm.
The latter is used primarily to help estimate the pitch and roll of the reduced IMU system and thus to improve the navigation performance.
In this paper, two reduced IMU configurations and two grades of IMUs are investigated using field data.
Test results show that the LTP is valid.
Specifically, inclusion of the LTP provides more than an 80% horizontal velocity improvement relative to the case when the LTP is not used in a GPS/reduced IMU configuration.
American Psychological Association (APA)
Sun, Debo& Petovello, Mark G.& Cannon, M. Elizabeth. 2008. GPSReduced IMU with a Local Terrain Predictor in Land Vehicle Navigation. International Journal of Navigation and Observation،Vol. 2008, no. 2008, pp.1-15.
https://search.emarefa.net/detail/BIM-500147
Modern Language Association (MLA)
Sun, Debo…[et al.]. GPSReduced IMU with a Local Terrain Predictor in Land Vehicle Navigation. International Journal of Navigation and Observation No. 2008 (2008), pp.1-15.
https://search.emarefa.net/detail/BIM-500147
American Medical Association (AMA)
Sun, Debo& Petovello, Mark G.& Cannon, M. Elizabeth. GPSReduced IMU with a Local Terrain Predictor in Land Vehicle Navigation. International Journal of Navigation and Observation. 2008. Vol. 2008, no. 2008, pp.1-15.
https://search.emarefa.net/detail/BIM-500147
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-500147