An Enhanced Error Model for EKF-Based Tightly-Coupled Integration of GPS and Land Vehicle’s Motion Sensors
Reduced inertial sensor systems (RISS) have been introduced by many researchers as a low-cost, low-complexity sensor assembly that can be integrated with GPS to provide a robust integrated navigation system for land vehicles. In earlier works, the developed error models were simplified based on the...
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| Format: | Article |
| Language: | English |
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MDPI AG
2015-09-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/15/9/24269 |
| _version_ | 1811305158609469440 |
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| author | Tashfeen B. Karamat Mohamed M. Atia Aboelmagd Noureldin |
| author_facet | Tashfeen B. Karamat Mohamed M. Atia Aboelmagd Noureldin |
| author_sort | Tashfeen B. Karamat |
| collection | DOAJ |
| description | Reduced inertial sensor systems (RISS) have been introduced by many researchers as a low-cost, low-complexity sensor assembly that can be integrated with GPS to provide a robust integrated navigation system for land vehicles. In earlier works, the developed error models were simplified based on the assumption that the vehicle is mostly moving on a flat horizontal plane. Another limitation is the simplified estimation of the horizontal tilt angles, which is based on simple averaging of the accelerometers’ measurements without modelling their errors or tilt angle errors. In this paper, a new error model is developed for RISS that accounts for the effect of tilt angle errors and the accelerometer’s errors. Additionally, it also includes important terms in the system dynamic error model, which were ignored during the linearization process in earlier works. An augmented extended Kalman filter (EKF) is designed to incorporate tilt angle errors and transversal accelerometer errors. The new error model and the augmented EKF design are developed in a tightly-coupled RISS/GPS integrated navigation system. The proposed system was tested on real trajectories’ data under degraded GPS environments, and the results were compared to earlier works on RISS/GPS systems. The findings demonstrated that the proposed enhanced system introduced significant improvements in navigational performance. |
| first_indexed | 2024-04-13T08:20:27Z |
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| id | doaj.art-b13bb67339d24a1ba483c028d0d61d9d |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T08:20:27Z |
| publishDate | 2015-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-b13bb67339d24a1ba483c028d0d61d9d2022-12-22T02:54:40ZengMDPI AGSensors1424-82202015-09-01159242692429610.3390/s150924269s150924269An Enhanced Error Model for EKF-Based Tightly-Coupled Integration of GPS and Land Vehicle’s Motion SensorsTashfeen B. Karamat0Mohamed M. Atia1Aboelmagd Noureldin2Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON K7K 7B4, CanadaElectrical and Computer Engineering, Royal Military College of Canada, Kingston, ON K7K 7B4, CanadaElectrical and Computer Engineering, Royal Military College of Canada, Kingston, ON K7K 7B4, CanadaReduced inertial sensor systems (RISS) have been introduced by many researchers as a low-cost, low-complexity sensor assembly that can be integrated with GPS to provide a robust integrated navigation system for land vehicles. In earlier works, the developed error models were simplified based on the assumption that the vehicle is mostly moving on a flat horizontal plane. Another limitation is the simplified estimation of the horizontal tilt angles, which is based on simple averaging of the accelerometers’ measurements without modelling their errors or tilt angle errors. In this paper, a new error model is developed for RISS that accounts for the effect of tilt angle errors and the accelerometer’s errors. Additionally, it also includes important terms in the system dynamic error model, which were ignored during the linearization process in earlier works. An augmented extended Kalman filter (EKF) is designed to incorporate tilt angle errors and transversal accelerometer errors. The new error model and the augmented EKF design are developed in a tightly-coupled RISS/GPS integrated navigation system. The proposed system was tested on real trajectories’ data under degraded GPS environments, and the results were compared to earlier works on RISS/GPS systems. The findings demonstrated that the proposed enhanced system introduced significant improvements in navigational performance.http://www.mdpi.com/1424-8220/15/9/24269inertial sensorswheel rotation sensorsGlobal Positioning Systemgyroscopeaccelerometerextended Kalman filter |
| spellingShingle | Tashfeen B. Karamat Mohamed M. Atia Aboelmagd Noureldin An Enhanced Error Model for EKF-Based Tightly-Coupled Integration of GPS and Land Vehicle’s Motion Sensors Sensors inertial sensors wheel rotation sensors Global Positioning System gyroscope accelerometer extended Kalman filter |
| title | An Enhanced Error Model for EKF-Based Tightly-Coupled Integration of GPS and Land Vehicle’s Motion Sensors |
| title_full | An Enhanced Error Model for EKF-Based Tightly-Coupled Integration of GPS and Land Vehicle’s Motion Sensors |
| title_fullStr | An Enhanced Error Model for EKF-Based Tightly-Coupled Integration of GPS and Land Vehicle’s Motion Sensors |
| title_full_unstemmed | An Enhanced Error Model for EKF-Based Tightly-Coupled Integration of GPS and Land Vehicle’s Motion Sensors |
| title_short | An Enhanced Error Model for EKF-Based Tightly-Coupled Integration of GPS and Land Vehicle’s Motion Sensors |
| title_sort | enhanced error model for ekf based tightly coupled integration of gps and land vehicle s motion sensors |
| topic | inertial sensors wheel rotation sensors Global Positioning System gyroscope accelerometer extended Kalman filter |
| url | http://www.mdpi.com/1424-8220/15/9/24269 |
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