Three-Dimensional Reduced Inertial Sensor System/GPS Integration for Land-Based Vehicles

  • Aboelmagd Noureldin
  • Tashfeen B. Karamat
  • Jacques Georgy
Chapter

Abstract

This chapter discusses a dead reckoning (DR) solution which is suitable for any wheel-based platform integrated with GPS. It eliminates several error sources that exist when using a traditional full IMU, especially low cost MEMS grade sensors. After discussing and analyzing the performance of a full IMU system, the theory of the methods employed to tackle sources of errors will be outlined. The reduced inertial sensor system is introduced and compared to a traditional full IMU, and its mechanization equations derived. This chapter discusses a dead reckoning (DR) solution which is suitable for any wheel-based platform integrated with GPS. It eliminates several error sources that exist when using a traditional full IMU, especially low cost MEMS grade sensors. After discussing and analyzing the performance of a full IMU system, the theory of the methods employed to tackle sources of errors will be outlined. The reduced inertial sensor system is introduced and compared to a traditional full IMU, and its mechanization equations derived. This is followed by a description of both loosely and tightly coupled KF-based integration of this reduced inertial sensor system with GPS, including the linearized system model and measurement model for each integration scheme.

Keywords

Pitch Angle Azimuth Angle Roll Angle Body Frame Forward Speed 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Aboelmagd Noureldin
    • 1
  • Tashfeen B. Karamat
    • 2
  • Jacques Georgy
    • 3
  1. 1.Department of Electrical and Computer EngineeringRoyal Military College of Canada/Queen’s UniversityKingstonCanada
  2. 2.Department of Electrical and Computer EngineeringQueen’s UniversityKingstonCanada
  3. 3.Trusted Positioning Inc.CalgaryCanada

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