The Efficiency of a Low Cost 2-D Inertial Navigation System

ABSTRACT THE EFFICIENCY OF A LOW COST 2-D INERTIAL NAVIGATION SYSTEM by © Christopher Steven Peurifoy 2010 Master of Science in Electrical and Computer Engineering Computer Engineering Option California State University, Chico Spring 2010 An inertial navigation system was designed using state of the art commercial sensors on a low cost budget. The system uses a 3 axis accelerometer, 3 axis gyroscope and 3 axis magnetometer to detect the system’s orientation in order to filter the earth’s gravity from accelerometer data. Then, finite velocity and position are calculated, accumulated and displayed by the system for the user to view. The efficiency of the system was analyzed during each phase of implementation and different data sampling rates were applied to the mathematical model in order to see how to best estimate current position with these particular sensors. This research was performed on the assumption that this device would be used underground, inside a building or underwater, where, global positioning data cannot be received and so efficient inertial movement tracking is the only plausible method for an electronic device to track current velocity and position.