On-Line Smoothing for an Integrated Navigation System with Low-Cost MEMS Inertial Sensors 英文参考文献.docVIP

Sensors 2012, 12, 17372-17389; doi:10.3390/s121217372 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article On-Line Smoothing for an Integrated Navigation System with Low-Cost MEMS Inertial Sensors Kai-Wei Chiang 1, Thanh Trung Duong 1,*, Jhen-Kai Liao 1, Ying-Chih Lai 2, Chin-Chia Chang 2, Jia-Ming Cai 2 and Shih-Ching Huang 2 1 Department of Geomatics, National Cheng-Kung University, 1 University Road, Tainan 701, Taiwan 2 Industrial Technology Research Institute, 195 Chung Hsing Road, Chutung, Hsinchu 310, Taiwan * Author to whom correspondence should be addressed; E-Mail: duong_trung2004@; Tel.: +886-6-237-0876; Fax: +886-6-237-5764. Received: 17 October 2012; in revised form: 6 December 2012 / Accepted: 7 December 2012 / Published: 13 December 2012 Abstract: The integration of the Inertial Navigation System (INS) and the Global Positioning System (GPS) is widely applied to seamlessly determine the time-variable position and orientation parameters of a system for navigation and mobile mapping applications. For optimal data fusion, the Kalman filter (KF) is often used for real-time applications. Backward smoothing is considered an optimal post-processing procedure. However, in current INS/GPS integration schemes, the KF and smoothing techniques still have some limitations. This article reviews the principles and analyzes the limitations of these estimators. In addition, an on-line smoothing method that overcomes the limitations of previous algorithms is proposed. For verification, an INS/GPS integrated architecture is implemented using a low-cost micro-electro-mechanical systems inertial measurement unit and a single-frequency GPS receiver. GPS signal outages are included in the testing trajectories to evaluate the effectiveness of the proposed method in comparison to conventional schemes. Keywords: on-line smoothing; INS/GPS integration; Kalman filter