SENSOR FUSION: An Advance Inertial Navigation System using GPS and IMU

Navigation is how everything moves around globally, and electronics have provided better solutions for appliances to work seamlessly. There are two broad navigation options for finding your location. One is a Global Positioning System (GPS) system, and the other one is by using the Inertial Measurement Unit (IMU). The IMU is nothing but a combination of accelerometers and gyroscopes. This paper puts light on the Inertial Navigation System (INS), which uses GPS and IMU to get navigation data. GPS and INS give us real-time velocity and position data required for navigation. However, GPS has a slow update rate, up to 1-10Hz, while IMU performs far better at gaining navigation data with an update rate up to 1KHz. IMU accumulates errors and drifts over time while GPS has a low update rate. These drawbacks make both systems unreliable when used alone. The proposed work talks more about the use of both sensors, and Raspberry Pi Zero using a sensor fusion technology. Removing drawbacks of both the sensors and the use of the Kalman Filter are discussed in the paper.