Sources of Error in GPS-Denied Odometry

Author(s):

Justin Brody, Sarah Leung, Jared Shamwell, and Daniel Donavanik

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 intertial 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.