Determination of trajectories using IKZ/CF inertial navigation: Methodological proposal
Moises J. Castro-Toscano,
Jorge Alejandro Valdez-Rodríguez,
Julio C. Rodríguez-Quiñonez,
Wendy Flores-Fuentes,
Oleg Sergiyenko,
Gabriel Trujillo-Hernández,
Oscar Real-Moreno
Affiliations
Moises J. Castro-Toscano
Facultad de Ingenieria, Universidad Autonoma de Baja California, Blvd. Benito Juarez, S/N, Mexicali, 21280, Baja California, Mexico
Jorge Alejandro Valdez-Rodríguez
Facultad de Ingenieria, Universidad Autonoma de Baja California, Blvd. Benito Juarez, S/N, Mexicali, 21280, Baja California, Mexico
Julio C. Rodríguez-Quiñonez
Facultad de Ingenieria, Universidad Autonoma de Baja California, Blvd. Benito Juarez, S/N, Mexicali, 21280, Baja California, Mexico; Corresponding author.
Wendy Flores-Fuentes
Facultad de Ingenieria, Universidad Autonoma de Baja California, Blvd. Benito Juarez, S/N, Mexicali, 21280, Baja California, Mexico
Oleg Sergiyenko
Instituto de Ingenieria, Universidad Autonoma de Baja California, Calle de la Normal S/N, Col. Insurgentes Este, Mexicali, 21100, Baja California, Mexico
Gabriel Trujillo-Hernández
Facultad de Ingenieria, Universidad Autonoma de Baja California, Blvd. Benito Juarez, S/N, Mexicali, 21280, Baja California, Mexico
Oscar Real-Moreno
Facultad de Ingenieria, Universidad Autonoma de Baja California, Blvd. Benito Juarez, S/N, Mexicali, 21280, Baja California, Mexico
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.
