Using Low-cost Mems 3d Accelerometer and One Gyro to Assist Gps Based Car Navigation System

This paper presents the development of GPS based navigation system for portable devices at Tampere University of Technology. The objective was to develop a fully integrated system using MEMS inertial sensors with price range of US$ 10-15 for the set of inertial sensors combined with low-update rate GPS measurements. This system doesn’t require vehicle installation and can be easily transferred between vehicles. The approach uses 3D accelerometer and one gyro for directional measurements to improve GPS performance in terms of availability and reliability in weak signal environment and during short GPS signal outages. Loosely coupled extended Kalman filter provides optimally tuned navigation solution and continuous auto calibration of inertial sensors. The system accuracy performance was investigated by using land vehicle tests in real urban environment.