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http://dx.doi.org/10.14372/IEMEK.2022.17.4.239

GNSS/Multiple IMUs Based Navigation Strategy Using the Mahalanobis Distance in Partially GNSS-denied Environments  

Kim, Jiyeon (Kyungpook National University)
Song, Moogeun (Kyungpook National University)
Kim, Jaehoon (Kyungpook National University)
Lee, Dongik (Kyungpook National University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.17, no.4, 2022 , pp. 239-247 More about this Journal
Abstract
The existing studies on the localization in the GNSS (Global Navigation Satellite System) denied environment usually exploit low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit) sensors to replace the GNSS signals. However, the navigation system still requires GNSS signals for the normal environment. This paper presents an integrated GNSS/INS (Inertial Navigation System) navigation system which combines GNSS and multiple IMU sensors using extended Kalman filter in partially GNSS-denied environments. The position and velocity of the INS and GNSS are used as the inputs to the integrated navigation system. The Mahalanobis distance is used for novelty detection to detect the outlier of GNSS measurements. When the abnormality is detected in GNSS signals, GNSS data is excluded from the fusion process. The performance of the proposed method is evaluated using MATLAB/Simulink. The simulation results show that the proposed algorithm can achieve a higher degree of positioning accuracy in the partially GNSS-denied environment.
Keywords
Multiple IMUs; GNSS; Integrated navigation; Extended Kalman filter; GNSS novelty detection;
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Times Cited By KSCI : 1  (Citation Analysis)
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