Implementation and experimental test result of a GPS/ins/DR integrated navigation system for ground vehicle using commercial Mems Imu and vehicle can data

Jin Su Han; Gun Hoon Ji; Jong Hoon Won

doi:10.5302/J.ICROS.2020.19.0138

Implementation and experimental test result of a GPS/ins/DR integrated navigation system for ground vehicle using commercial Mems Imu and vehicle can data

Jin Su Han, Gun Hoon Ji, Jong Hoon Won

Department of Electrical Engineering in Inha University

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

Abstract

In this paper, we integrate two commercialized low-cost GPS/INS and DR systems into a GPS/INS/DR system in order to realize a high-performance navigation system for autonomous vehicles. Measurements from a built-in type DR sensor through CAN communication of a commercial ground vehicle are used. In addition, Measurements from GPS, IMU and DR through CAN data are efficiently used in the GPS/INS/DR integrated navigation system. Numerical simulation and experimental test results are included in the paper to evaluate the performance of the proposed integrated navigation system in comparison to the positioning output of an RTK system.

Original language	English
Pages (from-to)	55-65
Number of pages	11
Journal	Journal of Institute of Control, Robotics and Systems
Volume	26
Issue number	1
DOIs	https://doi.org/10.5302/J.ICROS.2020.19.0138
State	Published - 2020
Externally published	Yes

Bibliographical note

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© 2020, Institute of Control, Robotics and Systems. All rights reserved.

Keywords

GPS/INS/DR integration
Loosely coupled
MEMS IMU

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10.5302/J.ICROS.2020.19.0138

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abstract = "In this paper, we integrate two commercialized low-cost GPS/INS and DR systems into a GPS/INS/DR system in order to realize a high-performance navigation system for autonomous vehicles. Measurements from a built-in type DR sensor through CAN communication of a commercial ground vehicle are used. In addition, Measurements from GPS, IMU and DR through CAN data are efficiently used in the GPS/INS/DR integrated navigation system. Numerical simulation and experimental test results are included in the paper to evaluate the performance of the proposed integrated navigation system in comparison to the positioning output of an RTK system.",

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AB - In this paper, we integrate two commercialized low-cost GPS/INS and DR systems into a GPS/INS/DR system in order to realize a high-performance navigation system for autonomous vehicles. Measurements from a built-in type DR sensor through CAN communication of a commercial ground vehicle are used. In addition, Measurements from GPS, IMU and DR through CAN data are efficiently used in the GPS/INS/DR integrated navigation system. Numerical simulation and experimental test results are included in the paper to evaluate the performance of the proposed integrated navigation system in comparison to the positioning output of an RTK system.

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Implementation and experimental test result of a GPS/ins/DR integrated navigation system for ground vehicle using commercial Mems Imu and vehicle can data

Abstract

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Keywords

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