The Advantages and Limitations of Low-Cost Single Frequency GPS/MEMS-Based INS Integration

Abstract

Global Positioning System (GPS) provides a method for directly obtaining instantaneous position and velocity estimates using satellites-based passive range measurements. GPS is a whole day, all-weather, passive, satellite positioning system. Inertial Navigation System (INS) is a navigation aid system that uses a computer and Inertial Measurement Unite (IMU). IMU includes motion sensors and rotation sensors to continuously calculate relative position, orientation, and velocity. The integration of GPS/INS can help to overcome the limitations of the two systems providing integrated system better than either on a stand-alone basis. The integration of low-cost INS with dual frequency GPS has been widely studied and the same for the integration of tactical grid INS with low-cost GPS. However, during the last a few years, a number of low-cost GPS\low-cost INS integrated systems have been introduced and become popular in various engineering applications. However, reliable investigations into the advantages, limitations and quality of such integration level are still needed and more efforts are required, which will be the focus of this paper. The methodology followed in this paper for evaluating the integration of low-cost GPS/INS sensors depends on evaluating the two sensors individually and comparing the results with the integrated system. The results show that low-cost single frequency GPS receivers are able to provide a comparable accuracy level in both static and kinematic carrier phase differential GPS (DGPS). As for low-cost Micro-Electro-Mechanical System (MEMS)-based IMU, the accelerometers have provided instability comparing to gyros. The performance of gyros can be improved based on modelling the nearly-linear behaviour of the gyro drift. Tests show that the integration of low-cost GPS sensors with MEMS-based INS degrades the quality of gyro measurements and may not add any improvements to the quality of the individual GPS positioning.