An integrated reduced inertial sensor system — RISS / GPS for land vehicle

Abstract

This paper demonstrates a low cost navigation solution that can efficiently work, in real-time, in denied GPS environment. It explores a reduced inertial sensor system (RISS) involving single-axis gyroscope and two-axis accelerometers together with a speed sensor to provide full navigation solution in denied GPS environments. With the assumption that the vehicle mostly stay in the horizontal plane, the vehicle speed obtained from the speed sensor are used together with the heading information obtained from the gyroscope to determine the velocities along the East and North directions. Consequently, the vehiclespsila longitude and latitude are determined. The position and velocity errors are estimated by Kalman filter (KF) relying on RISS dynamic error model and GPS position and velocity updates. The two accelerometers pointing towards the forward and transverse directions are used together with a reliable gravity model to determine the pitch and roll angles. This paper analyzes and discusses the merits and limitations of the proposed RISS system and its integration with GPS. The performance of the proposed method is examined by conducting road test experiment in a land vehicle.