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Accuracy Enhancement of Inertial Sensors Utilizing High Resolution Spectral Analysis
NavINST—Navigation and Instrumentation Research Group, Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON K7K 7B4, Canada
Civil and Structural Engineering Department, University Kebangsaan Malaysia, Bangi 43600, Malaysia
Department of Electrical and Computer Engineering, Queen’s University, Kingston, ON K7L 3N6, Canada
Electric, Electronics Systems Engineering Department, University Kebangsaan Malaysia, Bangi 43600, Malaysia
* Author to whom correspondence should be addressed.
Received: 6 July 2012; in revised form: 15 August 2012 / Accepted: 22 August 2012 / Published: 27 August 2012
Abstract: In both military and civilian applications, the inertial navigation system (INS) and the global positioning system (GPS) are two complementary technologies that can be integrated to provide reliable positioning and navigation information for land vehicles. The accuracy enhancement of INS sensors and the integration of INS with GPS are the subjects of widespread research. Wavelet de-noising of INS sensors has had limited success in removing the long-term (low-frequency) inertial sensor errors. The primary objective of this research is to develop a novel inertial sensor accuracy enhancement technique that can remove both short-term and long-term error components from inertial sensor measurements prior to INS mechanization and INS/GPS integration. A high resolution spectral analysis technique called the fast orthogonal search (FOS) algorithm is used to accurately model the low frequency range of the spectrum, which includes the vehicle motion dynamics and inertial sensor errors. FOS models the spectral components with the most energy first and uses an adaptive threshold to stop adding frequency terms when fitting a term does not reduce the mean squared error more than fitting white noise. The proposed method was developed, tested and validated through road test experiments involving both low-end tactical grade and low cost MEMS-based inertial systems. The results demonstrate that in most cases the position accuracy during GPS outages using FOS de-noised data is superior to the position accuracy using wavelet de-noising.
Keywords: INS/GPS; spectral analysis; FOS; navigation system
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Noureldin, A.; Armstrong, J.; El-Shafie, A.; Karamat, T.; McGaughey, D.; Korenberg, M.; Hussain, A. Accuracy Enhancement of Inertial Sensors Utilizing High Resolution Spectral Analysis. Sensors 2012, 12, 11638-11660.
Noureldin A, Armstrong J, El-Shafie A, Karamat T, McGaughey D, Korenberg M, Hussain A. Accuracy Enhancement of Inertial Sensors Utilizing High Resolution Spectral Analysis. Sensors. 2012; 12(9):11638-11660.
Noureldin, Aboelmagd; Armstrong, Justin; El-Shafie, Ahmed; Karamat, Tashfeen; McGaughey, Don; Korenberg, Michael; Hussain, Aini. 2012. "Accuracy Enhancement of Inertial Sensors Utilizing High Resolution Spectral Analysis." Sensors 12, no. 9: 11638-11660.