Experimental system for validating GPS/INS integration algorithms
Publish date: 2005-01-01
Report number: FOI-R--1875--SE
Written in: English
The work in this master thesis mainly consists of the design and implementation of an experimental platform for logging navigation data. Data from a Micro Electro Mechanical System (MEMS) Inertial Measurement Unit (IMU) of the type MICRO ISU BP3010 and a Superstar II GPS receiver are used for validation and evaluation of robust navigation algorithms. The report first briefly describes the theory of integration of GPS and INS. Then the implemented test equipment and the used navigation sensors are presented. Experiments were conducted in both high- and low-dynamic environments, using a roller coaster and a car respectively. Two different integration algorithms, tight and loose integration, are validated with data from the low dynamic car case. Laboratory tests have been performed for the MEMS IMU to determine its deterministic and stochastic errors. The tests consisted of drift test, gyro-turn-table tests and up-down tests. Both spectral analysis and Allan variance analysis has been used and compared while determining the stochastic errors. Results from car-tests shows that the tightly coupled navigation algorithm works better than the loosely coupled and in particular when less than 4 satellites.