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The Research of a New Low-Cost INS/GPS In
tegrated Navigation
Masaru Naruoka
2005/12/2 Suzuki-Tsuchiya Lab. 2
Outline1. Background2. Method3. Recent Activity4. Conclusion
2005/12/2 Suzuki-Tsuchiya Lab. 3
Background Navigation systems for aircrafts and
spacecrafts Best accuracy But, expensive
A new navigation system Good accuracy and Inexpensive For widespread-use
2005/12/2 Suzuki-Tsuchiya Lab. 4
The block diagram of my method (INS/GPS)
Integration
INS
GPS
Position
Velocity
Attitude
Position, Velocity etc…
Position
Velocity
Attitude
Acceleration
Angular Velocity
MEMS Sensors
Quaternion Based Kalman Filter
Very Inexpensiv
e
Tough to noise
2005/12/2 Suzuki-Tsuchiya Lab. 5
A view of the prototype
Tri-Axes Accelerometer
Gyro(X)Gyro(Y)
Gyro(Z)
2005/12/2 Suzuki-Tsuchiya Lab. 6
The block diagram of the prototype
GPS
Position(Lat, Long, Alt)
Velocity
Raw Data(psuedo-rande, carrier-phase, …)
Accelerometer
Gyro
Temperature
Sensors
PC(for Data Recording
and Processing)
USB24bit
A/D
$200 $100
2005/12/2 Suzuki-Tsuchiya Lab. 7
A scene of the real flight experiment (Nov 17, 2005)
The prototype
Crossbow INS/GPS
(Reference)
At Chofu airport
2005/12/2 Suzuki-Tsuchiya Lab. 8
Result of Flight Test
Position AttitudeVelocity
2005/12/2 Suzuki-Tsuchiya Lab. 9
Conclusion & Future work
A new INS/GPS system Using MEMS sensors and quaternion
based Kalman filters Low cost and Good performance
Future work Try other methods (ex. to change filter)
