IJPAM: Volume 49, No. 3 (2008)

GPS-AIDED INERTIAL NAVIGATION ALGORITHMS:
NEW APPROACHES

Vincenza Tornatore$^1$, Noemi Emanuela Cazzaniga$^2$
$^{1,2}$Dipartimento di Ingegneria Idraulica,
Ambientale, Infrastrutture Viarie, Rilevamento
Politecnico di Milano
Piazza Leonardo da Vinci, Milan, 32-20133, ITALY
$^1$e-mail: vincenza.tornatore@polimi.it
$^2$e-mail: noemi.cazzaniga@polimi.it


Abstract.Use of GPS-aided inertial navigation systems is continuously increasing thanks to the remarkable evolution of sensor technology and data processing methods. Several algorithms are developed to realize an INS/GPS (Inertial Navigation System/Global Positioning System) software to post-process navigation data. Navigation equations are analytically solved. For data noise reduction a wavelet denoising approach, with multilevel decomposition and successive synthesis of terms of higher scale only, is used. Two different statistical data fusion algorithms which integrate INS data with GPS measures are applied: Kalman filtering plus smoothing and a batch or geodetic solution. Both procedures allow to integrate INS raw data with estimated positions of a tern of GPS antennas mounted on a vehicle. The geodetic solution is applied for the first time to inertial navigation real data. Some tests are performed to compare the two solutions.

This work is part of a project on the realization of an experimental terrestrial mobile mapping vehicle at University of Parma.

Received: August 14, 2008

AMS Subject Classification: 62P30

Key Words and Phrases: INS/GPS, Kalman filter and smoother, geodetic solution, denoising, inertial navigation

Source: International Journal of Pure and Applied Mathematics
ISSN: 1311-8080
Year: 2008
Volume: 49
Issue: 3