Microsensors for military platform

• Main Author: Lee, Steven Jiahe.
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Final Year Project
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Mechanical engineering::Mechatronics
• Online Access: http://hdl.handle.net/10356/54140
• Institution: Nanyang Technological University

Global Positioning System (GPS) and Inertial Navigation System (INS) are used to determine position and velocity. A GPS module is able to accurately determine position without sensor drift but its usage is limited in heavily urbanized environments and heavy vegetation. While high cost tactical-grade INS determines position accurately, low-cost MEMS INS sensors are plagued by significant errors. In this study, GPS is coupled with INS to correct the errors while INS itself can be used to provide navigation solution during a GPS outage. Data from GPS and INS can be integrated by extensive Kalman Filtering, using loosely-coupled integration architecture to provide navigation solutions. The real-time low-cost loosely-coupled MEMS INS/GPS sensors have been used for pedestrian navigation. Trial runs of GPS outages have been conducted to determine the accuracy of the system described. The MEMS INS/GPS system can successfully project a trajectory during a GPS outage and produces a root-mean-square error of 9.35m in latitude direction and 10.8m in longitude direction.