1. The Research of a New Low-Cost INS/GPS Integrated Navigation Masaru Naruoka

2. 2005/12/2Suzuki-Tsuchiya Lab. 2 Outline 1. Background 2. Method 3. Recent Activity 4. Conclusion

3. 2005/12/2Suzuki-Tsuchiya Lab. 3 Background Navigation systems for aircrafts and spacecrafts Best accuracy But, expensive A new navigation system Good accuracy and Inexpensive For widespread-use

4. 2005/12/2Suzuki-Tsuchiya Lab. 4 The block diagram of my method (INS/GPS) Integration INS GPS Position Velocity Attitude Position, Velocity etc… Position Velocity Attitude Acceleration Angular Velocity MEMS Sensors Quaternion Based Kalman Filter Very Inexpensive Tough to noise

5. 2005/12/2Suzuki-Tsuchiya Lab. 5 A view of the prototype Tri-Axes Accelerometer Gyro(X) Gyro(Y) Gyro(Z)

6. 2005/12/2Suzuki-Tsuchiya Lab. 6 The block diagram of the prototype GPS Position(Lat, Long, Alt) Velocity Raw Data(psuedo- rande, carrier-phase, …) Accelerometer Gyro Temperature Sensors PC (for Data Recording and Processing) USB 24bit A/D $200$100

7. 2005/12/2Suzuki-Tsuchiya Lab. 7 A scene of the real flight experiment (Nov 17, 2005) The prototype Crossbow INS/GPS (Reference ) At Chofu airport

8. 2005/12/2Suzuki-Tsuchiya Lab. 8 Result of Flight Test PositionAttitudeVelocity

9. 2005/12/2Suzuki-Tsuchiya Lab. 9 Conclusion & Future work A new INS/GPS system Using MEMS sensors and quaternion based Kalman filters Low cost and Good performance Future work Try other methods (ex. to change filter)