Abstract

ZABALA, Mónica; CUENCA, Lorena; LEON, Jorge  and  CABRERA, Fausto. Coupling architecture between INS / GPS for precise navigation in established trajectories. Maskay [online]. 2018, vol.8, n.1, pp.20-26. ISSN 1390-6712.  https://doi.org/10.24133/maskay.v8i1.590.

A prototype based on development cards for the coupling of the inertial navigation system with GPS is implemented to improve the accuracy of navigation on a trajectory. Initially it is necessary to calibrate the inertial measurement unit (IMU) using the MADGWICK filter to obtain reliable raw data, the coupling of the global positioning system (GPS) and IMU signals is done through the Tight Coupling architecture using the Kalman filter to concurrently eliminate correlated errors between systems and achieve better accuracy in the generally navigation solution used for unmanned aerial vehicle (UAV) applications. The final application, called LJLAB, is developed in Matlab® with the aim of processing and visualizing the measured data of both systems (independent and coupled). The application is capable of showing the error in positioning accuracy that exists between technologies being statistically verified through the experimental method ANOVA which computes the absolute error between the real points and those measured through the analysis of the mean and variance of the observed data.

Keywords : Global Positioning System; Inertial Measuremnet Unit; Inertial Navigation System; Coupling System; Sensors, Kalman Filter; Madgwick Filter.

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