Realization of an Adaptive Hybrid Low-cost GPS/INS Integrated Navigation System with Switched Position-Domain and Range-Domain Filtering Strategy

GPS receivers are widely used in navigation and positioning, due to the global availability of GPS signals, its low cost and low power consumption. However, it does not work sufficiently in all signal environments. This raises the need to integrate GPS with other sensor systems (for instance, the inertial navigation system (INS)) to have a robust, continuous navigation solution regardless of the environment. The combination of the complementary characteristics from the GPS and INS provides overall an enhanced navigation performance. With the emergence of the micro-electromechanical systems (MEMS) based low-cost inertial measurement unit (IMU), cost-effective GPS/INS integrated navigation systems became of high interest. In this paper, the system performances of looselyand tightly-coupled low-cost GPS/INS integrations are analyzed. An adaptive hybrid lowcost GPS/INS integration system architecture is proposed. Simulation and test results are presented based on using an RF GPS signal simulator and synthetic IMU data.