The Research of a New LowCost INSGPS Integrated
- Slides: 9
The Research of a New Low-Cost INS/GPS Integrated Navigation Masaru Naruoka
Outline Background 2. Method 3. Recent Activity 4. Conclusion 1. 2005/12/2 Suzuki-Tsuchiya Lab. 2
1. Background n Navigation systems for aircrafts and spacecrafts Best accuracy n But, expensive n n. A new navigation system Good accuracy and Inexpensive n For widespread-use n 2005/12/2 Suzuki-Tsuchiya Lab. 3
The block diagram of my method (INS/GPS) Tough to noise INS Acceleration Angular Velocity MEMS Sensors Very Inexpensive Position Velocity Quaternion Based Kalman Filter Integration Position Velocity Attitude Position, Velocity etc… GPS 2005/12/2 Suzuki-Tsuchiya Lab. 4
A view of the prototype Gyro(Z) Tri-Axes Accelerometer Gyro(X) Gyro(Y) 2005/12/2 Suzuki-Tsuchiya Lab. 5
The block diagram of the prototype Sensors Accelerometer Gyro Temperature $200 $100 GPS Position(Lat, Long, Alt) 24 bit USB A/D Velocity Raw Data(psuedorande, carrier-phase, …) PC (for Data Recording and Processing) 2005/12/2 Suzuki-Tsuchiya Lab. 6
A scene of the real flight experiment (Nov 17, 2005) At Chofu airport 2005/12/2 The prototype Suzuki-Tsuchiya Lab. Crossbow INS/GPS (Reference) 7
Result of Flight Test Position 2005/12/2 Velocity Suzuki-Tsuchiya Lab. Attitude 8
Conclusion & Future work n. A new INS/GPS system Using MEMS sensors and quaternion based Kalman filters n Low cost and Good performance n n Future n 2005/12/2 work Try other methods (ex. to change filter) Suzuki-Tsuchiya Lab. 9
