Sources of Error in GPS-Denied Odometry

Abstract

As GPS-denied navigation becomes increasingly important, it is crucial to understand how errors in GPS-odometry arise. To that end, we model several scenarios of people and vehicles performing inertial odometry with various grades of inertial measurement units (IMUs). We compute the error in the odometry attributable to noise in various IMUs and to clock noise, ultimately concluding that, even with high end IMUs, error propagates significantly.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Sep 29, 2023
Accession Number
AD1212688

Entities

People

  • Daniel Donavanik
  • Jared Shamwell
  • Justin Brody
  • Sarah Leung

Organizations

  • Charles Stark Draper Laboratory
  • Franklin & Marshall College
  • United States Army Armament Research, Development and Engineering Center

Tags

Readers

  • Positioning, Navigation, and Timing (PNT) Technology.
  • Systems Analysis and Design

Technology Areas

  • Space