Improving accuracy with multiple sensors: Study of redundant MEMS-IMU/GPS configurations

Stephane Guerrier

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 Scopus citations

Abstract

Although experimental results have demonstrated that redundant MEMS-IMUs integrated with GPS are an efficient way to improve navigation performances, the precise relationship between the number of sensors employed and the accuracy enhancement remains unclear. This article aims at demonstrating, with the help of simulations, that multiple MEMS-IMU systems can be designed according to specifications. This enables to better define the relationship between the number of sensors employed and the accuracy improvement as well as to ascertain the precise number of sensors needed to fulfill the system's requirements. This proves to be highly helpful in designing navigation systems for applications that require a specific precision. This article also aims at demonstrating the impact of sensors' orientation on the system performances. To achieve this, a new method based on partial redundancies is introduced to formalize the determination of optimal geometry of multi-IMU systems. It shows that, when dealing with IMU triads, the optimality of such systems is independent of the geometry between them. This result, moreover, presents important practical implications since it demonstrates that complicated geometries, traditionally employed in such systems, can be avoided. Additionally, it also proves that navigation performances obtained by simulations with a certain number of sensors are valid independently from orientation amongst these sensors.

Original languageEnglish (US)
Title of host publication22nd International Technical Meeting of the Satellite Division of the Institute of Navigation 2009, ION GNSS 2009
Pages2565-2572
Number of pages8
StatePublished - Dec 1 2009
Event22nd International Technical Meeting of the Satellite Division of the Institute of Navigation 2009, ION GNSS 2009 - Savannah, GA, United States
Duration: Sep 22 2009Sep 25 2009

Publication series

Name22nd International Technical Meeting of the Satellite Division of the Institute of Navigation 2009, ION GNSS 2009
Volume5

Other

Other22nd International Technical Meeting of the Satellite Division of the Institute of Navigation 2009, ION GNSS 2009
CountryUnited States
CitySavannah, GA
Period9/22/099/25/09

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Information Systems
  • Electrical and Electronic Engineering
  • Communication

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