Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal. Issue 3 (March 2023)

• Record Type: Journal Article
• Authors: Castro-Toscano, Moises J.; Valdez-Rodríguez, Jorge Alejandro; Rodríguez-Quiñonez, Julio C.; Flores-Fuentes, Wendy; Sergiyenko, Oleg; Trujillo-Hernández, Gabriel; Real-Moreno, Oscar
• Is Part Of: Heliyon. Volume 9:Issue 3(2023)
• Publication Date: 2023-03
• Subjects: Navigation -- Trajectory tracking -- Localization -- Inertial navigation systems -- Micro-electromechanical systems; Research -- Periodicals; Medical sciences -- Periodicals; Natural history -- Periodicals; Social sciences -- Periodicals; Earth sciences -- Periodicals; Physical sciences -- Periodicals; 507.2
• DOI: 10.1016/j.heliyon.2023.e13863
• Languages: English
• ISSNs: 2405-8440

Abstract

Abstract: Nowadays, there are different methods used in the autonomous navigation task; current solutions include inertial navigation systems (INS). However, these systems present drift errors that are attenuated by the integration of absolute reference systems such as GPS, and antennas, among others. Consequently, few works concentrate efforts on developing a methodology to reduce drift errors in INS due to the widespread practice of incorporating absolute references into their systems. However, absolute references must be placed beforehand, which is not always possible. This work presents an improvement on our methodological proposal IKZ for tracking and localization of moving objects by integrating a complementary filter (CF). The main contribution of this paper is the methodological proposal in the integration between IKZ and CF, maintaining the restrictive properties to the drift error and significantly improving the handling characteristics of the system in real applications. Furthermore, the IKZ/CF was tested with raw data from an MPU-9255 in order to analyze the results between tests. Graphical abstract: Highlights: Determination of trajectory and orientation with restrictive property to the drift error. Initial orientations in uncontrolled environments (irregular surfaces). Prevent mismatch between the orientation of the observer and the inertial body (INS measurements).