Here we study an inertial navigation system (INS) constructed using sensor fusion by a Kalman filter. The code provides a working system with an inertial measurement unit (IMU, here accelerometer+gyro) and GNSS (GPS). The folloing things are evaluated:
The effects of GPS signal outage on the navigation solution
An improved vehicle motion model (”car does not skid or fly”)
Measurements from a speedometer to the navigation fusion filter.
and study the improved performance during GPS signal outage.
1. Bias estimation
Position error growth with time for Gyro-bias in Lund (55 N) and Stockholm (59 N)