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Ekwe, O. A.
Department of Electrical/Electronic Engineering, College of Engineering and Engineering Technology, Michael Okpara University of Agriculture, Umudike. Abia State, Nigeria
Nwankwo, C.
Department of Electrical/Electronic Engineering, College of Engineering and Engineering Technology, Michael Okpara University of Agriculture, Umudike. Abia State, Nigeria
Udo, E. U.
Department of Electrical/Electronic Engineering, College of Engineering and Engineering Technology, Michael Okpara University of Agriculture, Umudike. Abia State, Nigeria
ABSTRACT
Tightly coupled Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) integration is a widely used technique for land vehicle navigation, especially in challenging environments where GNSS signals are degraded or interrupted. However, the accuracy of the integrated system depends on the quality of the Inertial Measurement Unit (IMU), which is often affected by various error sources, such as biases, scale factors, misalignments, and noises. These errors can cause significant drifts in the INS solution and degrade the performance of the GNSS/INS integration. Therefore, it is essential to estimate and correct these errors to improve the accuracy and reliability of the navigation system. Mathematical error models are used to model and address the inherent errors of the Inertial Measurement Unit (IMU). In this paper, we used the Particle Swarm Optimization Algorithm to determine to what extent the mathematical error model used was able to address the errors present in IMU measurement. This will enable us select a good error model to implement in the GNSS/INS integration to improve the reliability and accuracy of the navigation system. We used MATLAB R2013b software to implement the PSO algorithm and test the accuracy of the mathematical error model. From our results, we obtained a percentage error of 44.2% for the accelerometer error model and above 80% for the gyroscope error model, using the PSO algorithm. This result demonstrates that more research is required for the gyroscope error model.
Keywords: Global Navigation Satellite System, Inertial Navigation System, Particle Swarm Optimization, Inertial Measurement Unit, Tightly Coupled and Loosely Coupled
https://doi.org/10.33922/j.ujet_v10i1_5
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View: 79 | Download: 5
Published
Tuesday, April 23, 2024
Issue
Vol. 10 No. 1, June 2024
Article Section
GENERAL
The contents of the articles are the sole opinion of the author(s) and not of UJET.
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