Adaptive integration techniques for low-cost integrated navigation systems

导航技术正在以惊人的速度扩展，特别是在民用社区中，车辆和个人导航仪等设备在我们的日常生活中变得司空见惯。大多数当前的导航系统主要依赖于全球定位系统“GPS”来进行位置和速度估计。但是，随着对在恶劣的GPS环境中工作的解决方案的需求不断增长，例如在市中心地区，在树木茂密的树冠下，或者在存在干扰的情况下，GPS信号可用性的极限正在达到，导航解决方案暂时不可用。为了帮助提供连续导航解决方案，惯性导航系统（INS）通常与GPS集成。申请人和其他研究人员已经参与了用于许多导航应用的集成GPS/INS系统的开发。不幸的是，由于以下几个因素，这些集成系统的大部分焦点一直是用于高精度应用（需要高成本的惯性系统）：（a）导航或战术级惯性传感器的高成本（数千美元），（B）这些高质量惯性单元的相对大的尺寸，（c）政府限制/规定。微机电系统（MEMS）惯性传感器的引入有助于最大限度地减少这些因素。MEMS价格低廉，体积小到可以嵌入手持GPS接收机，政府限制最小，通常与单点定位GPS（SGPS）一起使用，无需精确更新。对于民用应用，MEMS惯性传感器与SGPS相结合代表了在恶劣的GPS环境中导航的有效和实用的解决方案。但成本、尺寸和法规的提高是以导航准确性为代价的。MEMS具有比其更高等级的同行更大的误差特性，这意味着集成策略对于这些传感器的成功和精度至关重要。拟议的研究将解决几个问题，目前的集成方案，包括调谐，温度和残余失调误差集成MEMS INS/SGPS系统。

Navigation technologies are expanding at a phenomenal rate, especially within the civil community, with devices such as vehicle and personal navigators becoming commonplace within our everyday lives. Most current navigation systems rely primarily on the Global Positioning System "GPS" for position and velocity estimates. But with the growing demand for solutions that works in harsh GPS environments, such as in downtown areas, under heavily treed canopies, or in the presence of jamming, the limits of GPS signal availability are being reached where the navigation solution becomes temporarily unavailable. To help provide a continuous navigation solution, Inertial Navigation Systems (INS) have typically been integrated with GPS. The applicant, and others research, have been involved with the development of integrated GPS/INS systems for many navigation application. Unfortunately most of the focus of these integrated systems has been for high precision applications (requiring high cost inertial systems) due to several factors: (a) The high cost of navigational or tactical grade inertial sensors (thousands of dollars), (b) The relatively large size of these high quality inertial units, (c) Government restrictions/regulations. The introduction of micro-electro mechanical systems (MEMS) inertial sensors has helped minimize these factors. MEMS are inexpensive, they are small enough to be embedded within a handheld GPS receiver, the government restrictions are minimal and they are commonly used with single point positioning GPS (SGPS) without the need for precise updates. For civil applications, MEMS inertial sensors combined with SGPS represent an efficient and practical solution for navigating in harsh GPS environments. But the gains in cost, size and regulations come with a price in terms of navigation accuracy. MEMS have much larger error characteristics than their higher grade counterparts meaning that the integration strategy is paramount to the success and accuracy of these sensors. The proposed research will address several issues with the current integration scheme including tuning, temperature and residual misalignment errors for integrated MEMS INS/SGPS systems.