Implementación de un sistema de navegación inercial, para mejorar la precisión de posicionamiento de un prototipo GPS en una trayectoria dentro de la ESPOCH.

Abstract

This research implemented an inertial navigation system to improve the positioning precision of a GPS prototype in a path inside Escuela Superior Politécnica de Chimborazo (ESPOCH), using the Inertial Navigation System (INS) and Global Positioning System (GPS), to develop the coupling applying scientific knowledge in the development of navigation and positioning technologies. For the progress of the project the devices were calibrated in Python and its interface growth in Processing, also the Tight Coupling structural design was used in which the KALMAN Filter was used for the coupling of these two systems; in which the necessary improvements in positioning were obtained, and the structural design was modified by adding the MADGWICK Filter to the Inertial Measurement Unit (IMU). The device that fuses the GPS and IMU signals and the LJLAB software was developed in which the improved measurements (GPS / IMU) were shown with their respective graphs. For the analysis, the experimental method ANOVA was used and it was possible to demonstrate a reduction in the positioning error approximately 93% when compared to the error presented by the GPS device alone. Additional, the proposal represents a 94% about acquisition cost, compared to the devices currently on the market. It is recommended to use new sensory fusion coupling structural design with modern devices that increasingly have more technology, which will further reduce the error in measurements.