Reliability Improvement of Sensors Used in Personal Navigation Devices
Anup Dhital · 2015
ii Along with advancements in microelectromechanical system (MEMS) technology, many modern personal navigation devices incorporate measurements from various sensors alongside Global Navigation Satellite Systems (GNSS) receivers. Despite using these sensors, GNSS still remains an important component of these navigation devices in view of its absolute positioning capability. Thus, when it comes to navigating in GNSS signal degraded areas like in urban and natural canyons, the performance of such multi-sensor integrated navigation systems is still found to be sub-optimal. In particular, existing filtering algorithms are often unreliable in such environments. This affects the usability of such personal navigation devices in some applications where reliability is a critical parameter. Moreover, reliability can be further degraded by the occurrence of faults in other sensors besides GNSS. This research thus develops several algorithm modules with an ultimate goal of improving the performance, and especially reliability, for low cost multi-sensor integrated navigation systems.