GPS/Reduced IMU with a Local Terrain Predictor in Land Vehicle Navigation

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dc.contributor.authorSun, Debo
dc.contributor.authorPetovello, Mark G.
dc.contributor.authorCannon, M. Elizabeth
dc.date.accessioned2018-09-27T12:12:00Z
dc.date.available2018-09-27T12:12:00Z
dc.date.issued2008-11-03
dc.date.updated2018-09-27T12:11:59Z
dc.description.abstractIn order to reduce the cost and volume of land vehicle navigation (LVN) systems, a “reduced” inertial measurement unit (IMU) consisting of only one vertical gyro and two or three accelerometers is generally used and is often integrated with other sensors. Since there are no horizontal gyros in a reduced IMU, the pitch and roll cannot be calculated or observed directly from the inertial data, and the navigation performance is thus affected by local terrain variations. In this work, a reduced IMU is integrated with global positioning system (GPS) data and a novel local terrain predictor (LTP) algorithm. The latter is used primarily to help estimate the pitch and roll of the reduced IMU system and thus to improve the navigation performance. In this paper, two reduced IMU configurations and two grades of IMUs are investigated using field data. Test results show that the LTP is valid. Specifically, inclusion of the LTP provides more than an 80% horizontal velocity improvement relative to the case when the LTP is not used in a GPS/reduced IMU configuration.
dc.description.versionPeer Reviewed
dc.identifier.citationDebo Sun, Mark G. Petovello, and M. Elizabeth Cannon, “GPS/Reduced IMU with a Local Terrain Predictor in Land Vehicle Navigation,” International Journal of Navigation and Observation, vol. 2008, Article ID 813821, 15 pages, 2008. doi:10.1155/2008/813821
dc.identifier.doihttps://doi.org/10.1155/2008/813821
dc.identifier.urihttp://hdl.handle.net/1880/108514
dc.identifier.urihttps://doi.org/10.11575/PRISM/44900
dc.language.rfc3066en
dc.rights.holderCopyright © 2008 Debo Sun et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
dc.titleGPS/Reduced IMU with a Local Terrain Predictor in Land Vehicle Navigation
dc.typeJournal Article
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