Improved Vehicle Navigation Using Aiding with Tightly Coupled Integration

Vehicle navigation poses difficulties as it requires the uninterrupted availability of accurate positioning information, even in circumstances without an ideal condition. Global Positioning System (GPS) provides consistently accurate positioning solutions if four or more GPS satellites can be observed. Unfortunately, this condition is usually not satisfied if a vehicle is going through urban canyon, tunnel or forest canopy. Even with High Sensitivity and Assisted GPS receivers, reliable positioning using GPS alone in difficult urban situations is still a challenge. Inertial Navigation System (INS), consists of self- contained sensors that can continuously provide accurate short term positioning solutions. The integration of GPS and INS can overcome the GPS drawback and provide continuous navigation solutions even during GPS signal outages. Though newly developed MEMS-based INS sensors have relatively low accuracy, they are compact and inexpensive, which is very suitable for vehicle navigation. Hence, there is a growing interest in exploring the capabilities of these sensors in the field of vehicle navigation. This paper presents the integration of GPS with MEMS-based INS in a tightly coupled scheme. Tightly coupled integration can make use of GPS signals even if less than four GPS satellites are observed. Thus it offers better integration options. To further improve the GPS/INS integration results, non- holonomic constraints and heading observations were used in this study to improve the online positioning accuracies. The results showed the drift errors could be significantly reduced when non- holonomic constraints and/or heading information were used, during periods with GPS signal outage. In addition, a backward smoother called Rauch-Tung-Striebel (RTS) was also implemented for offline processing needs purpose. The integration results showed that the RTS smoother can significantly reduce the drift errors even if neither non-holonomic constraints nor heading information were used.