Positioning using GNSS and IMU

MEMS-based inertial guidance system (SINS) and global positioning system (GPS) combined navigation system has become a research and development hotspot in the field of global navigation system with a very broad application prospect due to its low cost, excellent navigation capability and strong comp...

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Main Author: Zhang, Jingyang
Other Authors: Law Choi Look
Format: Thesis-Master by Coursework
Language:English
Published: Nanyang Technological University 2021
Subjects:
Online Access:https://hdl.handle.net/10356/152751
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1527512023-07-04T17:41:03Z Positioning using GNSS and IMU Zhang, Jingyang Law Choi Look School of Electrical and Electronic Engineering ECLLAW@ntu.edu.sg Engineering::Electrical and electronic engineering::Applications of electronics MEMS-based inertial guidance system (SINS) and global positioning system (GPS) combined navigation system has become a research and development hotspot in the field of global navigation system with a very broad application prospect due to its low cost, excellent navigation capability and strong complementarity be tween each other. The information fusion technology is one of the main directions in the research and application of SINS/GPS combined navigation system, and it is important to study how to improve the performance of MEMS/GPS combined navigation system in terms of accuracy, reliability and continuity. The details of this dissertation are as follows. First, the background of combined navigation system and the basic principles of inertial navigation system and INS/GPS combined navigation are introduced, and the linear and nonlinear error models of MEMS inertial guidance are derived. Secondly, the error characteristics of inertial sensors, including systematic and random errors, are analyzed; the random errors of MEMS gyroscopes and accelerometers are analyzed using the Allan variance method. Finally, the combined MEMS/GPS navigation system model is simulated and compared with the actual experimental data using the EKF for nonlinear systems. Master of Science (Communications Engineering) 2021-09-27T00:40:53Z 2021-09-27T00:40:53Z 2021 Thesis-Master by Coursework Zhang, J. (2021). Positioning using GNSS and IMU. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/152751 https://hdl.handle.net/10356/152751 en application/pdf Nanyang Technological University
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Electrical and electronic engineering::Applications of electronics
spellingShingle Engineering::Electrical and electronic engineering::Applications of electronics
Zhang, Jingyang
Positioning using GNSS and IMU
description MEMS-based inertial guidance system (SINS) and global positioning system (GPS) combined navigation system has become a research and development hotspot in the field of global navigation system with a very broad application prospect due to its low cost, excellent navigation capability and strong complementarity be tween each other. The information fusion technology is one of the main directions in the research and application of SINS/GPS combined navigation system, and it is important to study how to improve the performance of MEMS/GPS combined navigation system in terms of accuracy, reliability and continuity. The details of this dissertation are as follows. First, the background of combined navigation system and the basic principles of inertial navigation system and INS/GPS combined navigation are introduced, and the linear and nonlinear error models of MEMS inertial guidance are derived. Secondly, the error characteristics of inertial sensors, including systematic and random errors, are analyzed; the random errors of MEMS gyroscopes and accelerometers are analyzed using the Allan variance method. Finally, the combined MEMS/GPS navigation system model is simulated and compared with the actual experimental data using the EKF for nonlinear systems.
author2 Law Choi Look
author_facet Law Choi Look
Zhang, Jingyang
format Thesis-Master by Coursework
author Zhang, Jingyang
author_sort Zhang, Jingyang
title Positioning using GNSS and IMU
title_short Positioning using GNSS and IMU
title_full Positioning using GNSS and IMU
title_fullStr Positioning using GNSS and IMU
title_full_unstemmed Positioning using GNSS and IMU
title_sort positioning using gnss and imu
publisher Nanyang Technological University
publishDate 2021
url https://hdl.handle.net/10356/152751
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