Open AccessDesign and Development of a Real-Time GPS-Aided SINU System
Author(s) -
Chot Hun Lim,
Theam Soon Lim,
Voon Chet Koo
Publication year - 2012
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/52681
Subject(s) - global positioning system , computer science , accelerometer , orientation (vector space) , inertial measurement unit , kalman filter , gyroscope , inertial navigation system , real time computing , computer vision , artificial intelligence , telecommunications , mathematics , physics , geometry , quantum mechanics , operating system
A Strapdown Inertial Navigation Unit (SINU) is a low cost motion measurement device commonly used for navigation solutions. Global Positioning System (GPS) is usually adopted as an external reference source to minimize the SINUʹs accumulation errors by applying a Kalman filter to obtain best estimations in positions, velocities and orientations. However, due to the low sampling rate of GPS, such a configuration does not provide intensive orientation estimation. In this paper, a new and efficient real‐time GPS-aided SINU system with incorporated magnetometers is developed to enhance the orientation estimation. An intensive orientation estimation algorithm is developed by combining the extra sensory inputs from magnetometers with the inputs from accelerometers. The estimated orientation was applied in the Kalman filtering, replacing the GPS‐aided orientation estimation. The offline implementation shows promising results in reducing both the accelerometersʹ and gyroscopesʹ errors. Finally, the design is successfully implemented in real‐time