Navigation using Inertial Sensors
S. Kronemeijer (TU Delft - Electrical Engineering, Mathematics and Computer Science)
Aad R.P.J. Vijn – Mentor (TU Delft - Mathematical Physics)
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Abstract
The world’s reliability on the Global Position System (GPS) is experiencing more and more vulnerabilities. Not just environmental factors are responsible for GPS inaccuracies, but blocking or spoofing location signals has become more commonly available worldwide. This raises interest in other methods to navigate without 3rd party connections. Using an Inertial Navigation System (INS) is such a method. In this paper an algorithm is created based on the sensor fusion input of acceleration and orientation data. In order to correct itself from integration drift the algorithm makes use of Kalman filtering. Multiple simulations and real-world experiments have been done with the use of a tablet. This has promising results in the computer simulations but showcases some real difficulties when used in practice. This report gives a basis of research in this field, and many more recommendations of extensions are made.