Application of Street Tracking Algorithm in a feedback configuration for an integrated INS/GPS navigation system

Abstract

When satellite's signal outage occurs, a single GPS receiver will be unable to provide a reliable solution, and an INS/GPS system would continue to use the raw IMU data to compute a solution. Several complementary methods have been proposed to provide a system with highly accurate position, velocity, and attitude in challenging GPS environments. In our previous study [1], we have proposed new algorithm called Street Tracking Algorithm (STA) to enhance the correctness of the integrated system. However, this algorithm can only improve the accuracy of the position of the vehicle due to its feed-forward configuration. This paper is an extended work of [1] when we proposed a feedback scheme that combines STA with the conventional INS/GPS system. In this novel configuration, both velocity and position parameters are enhanced. The experimental result has showed that when GPS signal is lost, we can control the position error is around 2.5 m, and the velocity error is around 3.2 m/s. © Springer-Verlag Berlin Heidelberg 2014.