Design and test of low-cost MIMU/GPS integrated navigation system

In order to bypass the limitation imposed by the high price of precision inertial sensor, we propose using low-cost MIMU (Micro Inertial Measurement Unit) to design low-cost MIMU/GPS integrated navigation system suitable for practical applications. In the full paper, we explain our design in detail; in this abstract, we just add some pertinent remarks to listing the three topics of explanation; (1) the structure and scheme of low-cost MIMU/GPS integrated navigation system, (2) the mathematical model of low-cost MIMU/GPS integrated navigation system, and (3) closed-loop adaptive Kalman filter; in topic 2, eqs. (1) through (6) in the full paper are taken from the open literature; in topic 3, we point out that, owing to the fact that statistical parameters of various noises are uncertain, traditional Kalman filter usually diverges; so a special adaptive Kalman filter must be designed; also in topic 3, eqs. (7) through (17) are all taken from the open literature but some of them are modified for design. Finally, a prototype of low-cost MIMU/GPS integrated navigation system was built. The data processing results of some car tests, given in Figs.5 and 6 in the full paper, show preliminarily the efficiency of our low-cost MIMU/GPS integrated navigation system; it provides a positioning accuracy of 10 m and velocity accuracy of 0.5 m/s when GPS works normally. When we purposefully locked GPS signals for 60 s, the data processing results of some car tests, given in Figs.7 and 8 in the full paper, worsened but the positioning accuracy of 20 m and velocity accuracy of 2 m/s are still within allowable limits; once the system captures GPS signals again, it restructures quickly and works normally under integrated navigation state.