This paper proposes an MEMS IMU/GPS integrated navigation algorithm with motion constraint and presents its performance evaluation result during the GPS outage. For implementation a commercial MEMS IMU and GPS receiver were used and van test was conducted to validate the proposed integration algorithm. The test vehicle was equipped with a reference navigation system which consisted of NovAtel's SPAN CDGPS receiver and Honeywell's HG1700AG58 IMU. The effectiveness of the proposed algorithm was assessed by comparing the outputs of MEMS IMU/GPS integrated navigation system with the reference trajectory when GPS outage occurred.

Keywords: MEMS IMU, integrated navigation system, motion constraint