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Implementation and performance of a GPS/INS tightly coupled assisted PLL architecture using MEMS inertial sensors.

Tawk Y, Tomé P, Botteron C, Stebler Y, Farine PA - Sensors (Basel) (2014)

Bottom Line: The use of global navigation satellite system receivers for navigation still presents many challenges in urban canyon and indoor environments, where satellite availability is typically reduced and received signals are attenuated.In particular, we propose a GPS/INS Tightly Coupled Assisted PLL (TCAPLL) architecture, and present most of the associated challenges that need to be addressed when dealing with very-low-performance MEMS inertial sensors.Finally, the architecture is evaluated through a test campaign using a vehicle that is driven in urban environments, with the purpose of highlighting the pros and cons of combining MEMS inertial sensors with GPS over GPS alone.

View Article: PubMed Central - PubMed

Affiliation: Polytechnique Fédérale de Lausanne, Institute of Microengineering (IMT), Electronics and Signal Processing Laboratory, Neuchâtel, Switzerland. youssef.tawk@gmail.com.

ABSTRACT
The use of global navigation satellite system receivers for navigation still presents many challenges in urban canyon and indoor environments, where satellite availability is typically reduced and received signals are attenuated. To improve the navigation performance in such environments, several enhancement methods can be implemented. For instance, external aid provided through coupling with other sensors has proven to contribute substantially to enhancing navigation performance and robustness. Within this context, coupling a very simple GPS receiver with an Inertial Navigation System (INS) based on low-cost micro-electro-mechanical systems (MEMS) inertial sensors is considered in this paper. In particular, we propose a GPS/INS Tightly Coupled Assisted PLL (TCAPLL) architecture, and present most of the associated challenges that need to be addressed when dealing with very-low-performance MEMS inertial sensors. In addition, we propose a data monitoring system in charge of checking the quality of the measurement flow in the architecture. The implementation of the TCAPLL is discussed in detail, and its performance under different scenarios is assessed. Finally, the architecture is evaluated through a test campaign using a vehicle that is driven in urban environments, with the purpose of highlighting the pros and cons of combining MEMS inertial sensors with GPS over GPS alone.

No MeSH data available.


Comparison of the position solution of the TCAPLL and the stand-alone GPS.
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f8-sensors-14-03768: Comparison of the position solution of the TCAPLL and the stand-alone GPS.

Mentions: The position solution of a small part of the trajectory is given in Figure 8, where it can be seen that the TCAPLL has a smoothing effect on the solution compared to the stand-alone GPS. This smoothing effect is the result of the complementary error characteristics of the GPS, which have a long term stability navigation solution, and of the INS, which have a short term stability solution.


Implementation and performance of a GPS/INS tightly coupled assisted PLL architecture using MEMS inertial sensors.

Tawk Y, Tomé P, Botteron C, Stebler Y, Farine PA - Sensors (Basel) (2014)

Comparison of the position solution of the TCAPLL and the stand-alone GPS.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC3958239&req=5

f8-sensors-14-03768: Comparison of the position solution of the TCAPLL and the stand-alone GPS.
Mentions: The position solution of a small part of the trajectory is given in Figure 8, where it can be seen that the TCAPLL has a smoothing effect on the solution compared to the stand-alone GPS. This smoothing effect is the result of the complementary error characteristics of the GPS, which have a long term stability navigation solution, and of the INS, which have a short term stability solution.

Bottom Line: The use of global navigation satellite system receivers for navigation still presents many challenges in urban canyon and indoor environments, where satellite availability is typically reduced and received signals are attenuated.In particular, we propose a GPS/INS Tightly Coupled Assisted PLL (TCAPLL) architecture, and present most of the associated challenges that need to be addressed when dealing with very-low-performance MEMS inertial sensors.Finally, the architecture is evaluated through a test campaign using a vehicle that is driven in urban environments, with the purpose of highlighting the pros and cons of combining MEMS inertial sensors with GPS over GPS alone.

View Article: PubMed Central - PubMed

Affiliation: Polytechnique Fédérale de Lausanne, Institute of Microengineering (IMT), Electronics and Signal Processing Laboratory, Neuchâtel, Switzerland. youssef.tawk@gmail.com.

ABSTRACT
The use of global navigation satellite system receivers for navigation still presents many challenges in urban canyon and indoor environments, where satellite availability is typically reduced and received signals are attenuated. To improve the navigation performance in such environments, several enhancement methods can be implemented. For instance, external aid provided through coupling with other sensors has proven to contribute substantially to enhancing navigation performance and robustness. Within this context, coupling a very simple GPS receiver with an Inertial Navigation System (INS) based on low-cost micro-electro-mechanical systems (MEMS) inertial sensors is considered in this paper. In particular, we propose a GPS/INS Tightly Coupled Assisted PLL (TCAPLL) architecture, and present most of the associated challenges that need to be addressed when dealing with very-low-performance MEMS inertial sensors. In addition, we propose a data monitoring system in charge of checking the quality of the measurement flow in the architecture. The implementation of the TCAPLL is discussed in detail, and its performance under different scenarios is assessed. Finally, the architecture is evaluated through a test campaign using a vehicle that is driven in urban environments, with the purpose of highlighting the pros and cons of combining MEMS inertial sensors with GPS over GPS alone.

No MeSH data available.