Aided inertial navigation field testsusing an RLG IMU

Abstract: In this thesis a system for aided inertial navigation (aided INS or AINS) has been testedthrough a number of kinematic experiments. In the experiments, data was collected andpost-processed by different methods. The system was built up by an IMU (inertial measurementunit) aided by a GPS receiver and an odometer. To fuse and filter the sensor dataa Kalman filter from the AINS Matlab Toolbox has been used.The following equipment was used• iNAV-RQH; IMU from iMAR• System 4000SSE; GPS receiver from Trimble• Correvit L-CE; odometer from Corsys-DatronThe following methods (and combinations of these) were used on the acquired data• INS with Zero velocity updates (ZUPT)• INS under non holonomic constraints• INS integrated with GPS• INS integrated with odometerThe work resulted in a number of trajectories; some of these could be compared with areference trajectory, in other cases this was not possible due to the nature of the experiment.Also there are no guidelines or standards on how to test a system in order to compare itwith other systems.Over all, good results were achieved with the system. The AINS toolbox worked outwell and it was indicated that the odometer could be used as an important aiding source inan aided inertial navigation system.