MEMS/GPS Integrated Navigation System based on EKF

MEMS (Micro-electromechanical Systems) sensors have many advantages including fast response, low cost, small size and low power consumption. However, MEMS sensors suffer low accuracy and poor stability due to the limitations of the manufacturing process. the MEMS/GPS integrated navigation system based on EKF make up for these shortcomings. The system using a low-cost MEMS sensor system consists of tri-axis gyroscopes and accelerometers which also incorporates a tri-axis magnetometer, and it can provide a complete measurement of orientation relative to the direction of gravity and the earth's magnetic field.Extended kalman filter is used to fuse informations from MEMS and GPSof UAV. Mathematical models of GPS and MEMS sensor system are constructed based on matlab/simulink. The experimental results indicate that the average attitude angle error obtained is less than 0.15 degrees in simulation experiments while position error is less than 7m and the velocity error is less than 0.4m.