Study of Utilizing Multiple IMUs for Inertial Navigation Systems Without GPS Aid

Due to their small sizes and lightweights micro electro mechanical systems inertial measurement units (MEMS-IMUs) have become popular in inertial navigation systems (INSs). When the data taken from MEMS-IMUs are fused with the data coming from GPS signal, INS systems most likely to obtain a precise result, however, in GPS-denied environments the results may be misleading. This article studies the error profile of an inertial navigation system in a GPS-denied environment utilizing multiple IMUs. Using NaveGo simulation framework, tracking performance of a inertial navigation system employing single IMU is compared with a triple IMU inertial navigation system. The simulation results reveal that utilizing extra IMUs in a GPS denied environment improves the error profile where up to 82%, 85%, and 83% reductions in latitude, longitude and altitude error figures respectively.