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Journal of Emerging Trends in Computing and Information Sciences >> Call for Papers Vol. 8 No. 3, March 2017

Journal of Emerging Trends in Computing and Information Sciences

A Robust Tracking System Using GPS Augmented by IMU Sensors

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Author Zexi Liu, Chang-Hee Won
ISSN 2079-8407
On Pages 41-49
Volume No. 8
Issue No. 2
Issue Date March 1, 2017
Publishing Date March 1, 2017
Keywords GPS receiver, IMU sensors, rule-based data fusion, position estimate, personnel tracking.


A robust tracking system using a Global Positioning System (GPS) receiver, low-cost inertial sensors, and rule-based data fusion has been developed. An inertial measurement unit tends to accumulate errors over time. A GPS receiver, on the other hand, does not accumulate errors over time, but the augmentation with other sensors is needed because the GPS receiver fails in stressed environments such as beneath the buildings, in tunnels or forests, and indoors. This limits the usage of a GPS receiver as a navigation/tracking system for automobiles, unmanned vehicles, and pedestrians. The objective of this work is to augment GPS signals with low-cost inertial sensor data and a novel data fusion method. A minimized inertial augmentation board for GPS receiver has been designed and developed. The performance of the receiver with a mobile experimental platform under both indoor and outdoor circumstances has been tested. Results show that the system can provide a superior performance in comparison with either a GPS receiver alone or an Inertial Measurement Unit (IMU) alone.

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