Efficient navigation using GNSS-inertial navigation systems

• Main Author: Goh, Dione Wan Yun
• Other Authors: Erry Gunawan
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2021
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/149220
• Institution: Nanyang Technological University

Global Navigation Satellite Systems (GNSS) is the most popular method to determine a target’s position in a variety of applications and systems. While standalone GNSS receivers can accurately determine the position, velocity, and time (PVT) of an object without sensor drift, its usage is limited in several types of environment. For instance, urban areas, tunnels and places with dense vegetation frequently experience GNSS signal loss. In this study, the performance of an Inertial Navigation System (INS) aided GNSS system is investigated by implementing both systems into a single navigation aid. A low-cost Micro Electromechanical System (MEMS) Inertial Measurement Unit (IMU) is integrated with a GNSS Module, using a simple Kalman filter to provide the position of a target. The experiments are conducted in urban areas to determine the measured position from the output of the system. The results are obtained, and a conclusion is made from a practical perspective.