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GNSS aided IMU

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)

Position bias in Lund Position bias in Stockholm

2. GNSS-receiver outage simulation at 200s

Position and speed profile

GNSS outage at 200s Speed vs Time

Position error

GNSS outage with height profile GNSS outage with X, Y profile

3. GNSS-receiver outage simulation with non-holonomic constraints (Position RMS error = 9.7721)

Position and speed profile

GNSS outage at 200s Speed vs Time

Position error

GNSS outage with height profile GNSS outage with X, Y profile

4. GNSS-receiver outage simulation with non-holonomic constraints and speed-aiding (Position RMS error = 10.0474)

Position and speed profile

GNSS outage at 200s Speed vs Time

Position error

GNSS outage with height profile GNSS outage with X, Y profile

5. Position with IMU, Speed and GNSS

GNSS outage with height profile

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