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Application of Street Tracking Algorithm to Improve Performance of a Low-Cost INS/GPS System

Thang Nguyen Van 1, Trinh Chu Duc 2, and Tan Tran Duc 2
1. Broadcasting College 1, Phuly City, Hanam Province, Vietnam
2. VNU University of Engineering and Technology, Hanoi, Vietnam
Abstract—This paper presents a novel algorithm named Street Tracking Algorithm (STA) for performance improving of a low-cost INS/GPS integrated System. Instead of the open-loop output position calculating method in the developed INS/GPS integrated systems, this STA calculates position based on three parameters of INS position output, IMU velocity increment within a time slot and the trajectory’s digital map database. The position error of this STA reaches ± 2.5 meters within a considered period time slot of 28 seconds. This error is much improved up to 80 times when compare with the original INS/GPS integrated system.

Index Terms—inertial navigation system, global positioning system, kalman filter, street tracking algorithm.

Cite: Thang Nguyen Van, Trinh Chu Duc, and Tan Tran Duc, "Application of Street Tracking Algorithm to Improve Performance of a Low-Cost INS/GPS System," Jounal of Automation and Control Engineering, Vol.1, No.3, pp. 181-185, Sep. 2013. doi: 10.12720/joace.1.3.181-185
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