2026-05-22T21:28:52Zhttps://keep.lib.asu.edu/oai/requestoai:keep.lib.asu.edu:node-1981962024-12-23T18:01:48Zoai_pmh:alloai_pmh:repo_items198196
https://hdl.handle.net/2286/R.2.N.198196
http://rightsstatements.org/vocab/InC/1.0/
All Rights Reserved
2024
102 pages
Doctoral Dissertation
Academic theses
Text
eng
Grates, Patrick Michael
Redkar, Sangram
Rogers, Bradley
Sugar, Thomas
Arizona State University
Partial requirement for: Ph.D., Arizona State University, 2024
Field of study: Engineering
It is possible to supplement consumer navigation systems that are based solely on Global Navigation Satellite System (GNSS) with inertial or magnetic field-based sensors so that an accurate navigation solution can be reached during periods of Global Positioning System (GPS) denial. A fresh approach uses multiple Inertial Measurement Units (IMUs), three spinning and one unspun, as well as navigation aids for a comprehensive navigation solution. Odometry and magnetometry data is readily available in two thirds of vehicles manufactured after 2018, and this data may be used in conjunction with independent sensors, such as and Bluetooth Low Energy (BLE) capable digital compasses. IMUs must be rotated in a controlled fashion and filtered to account for bias and data noise. Frequent calibration is required to manage bias stability. This dissertation demonstrates that a reasonable navigation solution can be arrived at during periods of GPS denial of up to 30 minutes at highway speeds using multiple IMUs and supplementary sensors.
Engineering
Inertial Measurement Units
Instrumentation
navigation
Position
Timing
Low-Cost Navigation without External (GPS) Inputs