Performance Investigation of Barometer Aided

GPS/MEMS-IMU Integration

Jieying Zhang, Ezzaldeen Edwan, lunchuan Zhou, Wennan Chai, Otmar Loffeld
Center for Sensorsystems (ZESS), University of Siegen
57068 Siegen, Germany

Abstract- The integration of inertial sensors is a widely-adopted system under rapid development, thus keeping the whole
method for covering GPS outages. However, the position system in an affordable manner. With more sensors
accuracy in vertical direction is often challenged in comparison incorporated, more information is fused in the positioning
with the one in the horizontal plane. This paper explores the algorithm, which leads to meet the ever-increasing demand in
possibility of using MEMS barometer as an aug mentation in the navigation accuracy, robustness etc. The barometer in the
GPS/INS integration in land application. A prototype system, multi-sensor system can improve the availability and accuracy
composed of a commercial GPS receiver with low-cost MEMS
of the positioning solution in the vertical direction. While
IMU and barometer on a DSP platform, is implemented and
similar to other MEMS sensors, the critical point of integrating
described. In addition, the initial investigation of the MEMS
the barometer is also to deal with the limited sensor
barometer is addressed. With the field experiment data collected
performance, since the ambient air pressure measured are
from a car-driving test in a hilly region, the benefit of barometer
influenced by fluctuations in ambient temperature, ventilation
aiding is demonstrated.
and so on. Recent researches have reported the successful
Keywords; formatting; MEMS barometer; GPSIINS application of the barometer in indoor or personal navigation,
for example to identify different building floors. Some of the
researches also consider a second barometer as a reference. [2]
I. INTRODUCTION
This work explores possibility of applying MEMS barometer to
Since decades, the integration of the Global Positioning the land vehicle navigation and further investigates the system
System (GPS) and the Inertial Navigation System (INS) has performance of the multi-sensor integrated system in the
received fast development due to the fact that it delivers a vertical direction. Considering the practical setup of the
higher-quality navigation performance, not only in terms of system, only one barometer is considered in this work.
accuracy but also system robustness, by taking advantage of
With the purpose of implementing a consumer navigation
the individual superiorities of each standalone system. A
system for embedded applications, the development of a low
widely applied field is the land vehicle navigation, where the
cost multi-sensor integrated navigation system based on a
GPS outages are expected to be bridged in the GPS challenged
Digital Signal Processing (DSP) platform is implemented and
environments like the urban canyon or foliaged areas.
addressed in this paper, with the emphasis on the system
It is observed that the position accuracy is more challenged development of the barometer augmentation. While equipped
in the vertical direction than the horizontal dimension, even in with a MEMS barometric altimeter apart from the MEMS
the GPSIINS integrated system. Normally, the altitude IMU, the prototype system is expected to behave more robust
accuracy is considered critical in the aerial applications, while and demonstrate the superiority in vertical performance.
appears less important for the land vehicles. However, with the
The remaining of the paper is organized as follows: In the
ever-increasing demand in navigation accuracy and robustness,
second section, the fundamental of barometric height is
for example to know the exact level in the cloverleaf junction
introduced, as well as its relationship with GPS height and the
or to track a vehicle in the hilly area, vertical accuracy bears an
characteristic of the sensor errors. Moreover, the initial
increasing weight in the land applications.
investigation of MEMS barometer is carried out which
For a long time, pressure sensors like barometric altimeters facilitates the implementation of the multi-sensor integrated
are special-purpose devices which derive altitude from pressure system. The realization of the prototype is described in the
measurements. Yet, considering barometers to enhance the third section, including the system configuration and the sensor
system performance in the vertical direction is not a fresh new fusion and barometer augmentation mechanism. The field
idea. [1] Nevertheless, the cost-driven factor and the physical experiment with an auto is described in the fourth section. The
dimension have been the major barrier of bringing such test results is demonstrated and analyzed in the vertical
integrated systems to the consumer market until the emergence direction. Finally, conclusions and further steps are addressed
of the Micro Electro Mechanical Systems (MEMS) technology in the fifth section.
recently. Benefited from the low-cost and compact MEMS
sensors available, the applications of MEMS barometers are
going widely into the mobile and personal devices and
consequently promoting the multi-sensor integrated navigation

978-1-4673-0387-3/12/$31.00 2012 IEEE 598

 II. FUNDAMENTAL OF BAROMETRIC ALTITUDE height. The height difference includes the offset between
ellipsoid and geoid surface, as well as the measurement errors
A. Barometric Height and GPS Height in both the GPS and barometer. Nevertheless, in general,
Air pressure and Barometric Height barometric height appears to be more stable.

It's well-known that the barometer measures the absolute
ambient pressure. The measured pressure P can simply be
converted into height Hbaro using equation (1 ), where
absolute pressure at the sea level.
Indicated from the bottom plot of Fig. 1 , the main error
source of the barometric height is composed of the bias term,
drift term and noise term. The bias term, also known as the
Po is the initial sensor bias, is constant and can be removed by
calibration. The drift, which is caused by the slow change in

[ I1
ambient pressure and other uncertain factors like temperature,

Hbaro =44330x 1- ( ) 5.255

(1 )
ventilation etc, is difficult to model in real-time. However,
given that there are frequent calibrations and the period in
between is short, the drift can be considered as a constant term
and can even be ignored due to its insignificance. The
Therefore, the derived barometric height refers to the height measurement noise of the barometric height shows the
above the sea level. Though it's commonly-known that the air characteristic of white noise, as illustrated in Fig. 2 where the
pressure at the sea level is around 101325 Pa, the pressure histogram of the barometric height is plotted.
depends on the local weather condition and varies from place histogram
to place. 2500

2000
The GPS height in the frequently-used LLH (Latitude,
Longitude and Height) format often refers to the height above 1500
ellipsoid, which is described by the standard earth coordinate
1000
frame of WSG84 for example. The relationship between the
barometric height and GPS height can be expressed in equation 500

(2). 0
217 218 219 220 221 222
h=H+N (2) Barometric height [m]

where h denotes the ellipsoid height, e.g. GPS height; H Figure 2. Histogram plot of barometric height

is the height above the geoid surface, e.g. ideal barometric

height; N is the geoid undulation which equals to the B. Initial Investigation of MEMS Barometer
difference between ellipsoid and geoid surface.
The MEMS barometer used in the prototype system is a
Barometric Height Error low power digital pressure sensor from Bosch [3], which is
based on piezo-resistive technology and optimized for
The distinct characteristics of GPS height and barometric
applications in mobile and personal devices.
height are illustrated in Fig. 1 . Both of the measurements are
taken at the same position on the windowsill and last for 30 The barometer is first tested in the office environment to
minutes. evaluate its long-term and short-term behavior. Various sets of
pressure measurements are recorded during different time
Barometric height vs. GPS height
periods, under varied scenarios and with different sensor

l::::
modes.
oS 360
E As the barometer needs certain time for the conversion of
0>

340
the pressure measurement, tradeoff needs to be sought between
320 the sensor oversampling rate and noise reduction when it is
0 200 400 600 800 1000 1200 1400 1600 1800
Time [s1 integrated in the system. Therefore, the sensor performance
under different sensor modes is investigated and demonstrated
in Fig. 3. The standard deviation of each sensor oversampling
mode is given in Table 1 , where the maximum conversion time
of each mode is also listed. As expected, with longer
conversion time, the noise level of barometric height is
600 800 1 000 1200 1400 1600
reduced. Nevertheless, the ultra low power mode is still of
Time [s1 great interest for two reasons. First, as indicated in Table 1 , the
difference of the standard deviation in height between the ultra
Figure I. GPS height vs. barometric height in static position high resolution mode and the ultra low power mode is
relatively moderate. In this case, the ultra low power mode
In Fig. 1 , the GPS height varies up to 40 meters in a short shows an increase of several tens of decimeter in standard
time due to the poor observations as well as multipath effects. deviation. Second, with less conversion time, the height
The barometric height converted from the pressure solution from barometer can be available at higher frequency,
measurements using equation (1 ) differs largely from the GPS which may benefit the sensor integration.

599
 Moreover, although the measurements under different illustrated in the bottom diagram of Fig. 4. However, as
modes were taken at the identical position and approximately summarized in Table 2, the standard deviations of each test
the same time, the corresponding absolute heights derived show a similar noise level of the barometric heights during
show a slight variance in the top plot of Fig. 3. The disaccord different times.
presents a certain relationship with the ambient temperature
measured as shown in the bottom plot of Fig. 3.
TABLE IT. STANDARD DEVIATION OF BAROMETRIC HEIGHT IN FIG. 4

Color in Fig. 4 Red Blue Green Black

Height std. (m) 0.625 0.705 0.683 0.629

Color in Fig. 4 Cyan Magenta Yellow

Height std. (m) 0.637 0.636 0.609

Table 3 specifies the standard deviations of barometric

____________ _T_m
i es[ ] ____________
height in all tests during different time periods and with four
22g

t:+--- d
-
sensor oversampling modes. Each row indicates the standard

-
deviation of barometric height obtained at the same time but
under different mode, whereas each line shows the noise level
22 51- - ----::5':-,0 --------10-,--' 0--------
0 -- . . ---
-
15-,--
---
-' 0 -----2:-'-0,-
0 -----2:-':-50,------,
300 ,-' under the same mode while at different times. Table 3
Time[s]

demonstrates again that under the same mode, the noise levels
of the barometric heights during different time are similar and
the noise level is reduced with longer conversion time (higher
Figure 3. Barometer reading in static position with different modes
sensor oversampling mode).

TABLE I. STANDARD DEVIATION OF BAROMETRIC HEIGHT IN FIG. 3 TABLE Ill. SUMMARY OF STANDARD DEVIATION OF BAROMETRIC HEIGHT

Sensor oversampling Ultra low Standard High Ultra high

Ultra high High Standard Ultra low
mode in Fig. 3
Std.(m) @ Time 1 0.624 0.551 0.545 0.528
Conversion time
max. (ms) 25.5 13.5 7. 5 4. 5
Std.(m) @ Time 2 0.705 0.614 0.493 0.491

Height std.(m) 0.47 0.48 0.56 0.62 Std.(m) @ Time 3 0.683 0.580 0.485 0.424

Std.(m) @ Time 4 0.629 0.563 0.481 0.471

The barometric heights of an identical position recorded Std.(m) @ Time 5 0.637 0.562 0.480 0.535

with the same oversampling mode (ultra low power mode) Std.(m) @ Time 6 0.636 0.601 0.430 0.385

during the successive days are shown with different colors in Std.(m) @ Time 7 0.609 0.639 0.494 0.496
Fig. 4.
Std.(m) @ Time 8 0.725 0.629 0.566 0.484

440
An additional test is conducted to observe the sensitivity of
F,.""'_""_="""'
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,,
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.
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j 400 -
'''' .. .... ... . .. .. ... -"'
. = . ...
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.-__________________________
______
moved up and down by hand at approximately 0.5 Hz with a
380 height difference of l. 5 to 2 meters. The result is illustrated in
3800---------,00O---1---2O- Fig. 5. It is shown that the waving of hand up and down is
Time Is] captured by the sensor, though a small drift of the slope is
24,------,------,------,,- -----,------,------,

. ;." : : . -.j
observed due to the ventilation change during the test.

F6
Barometric height
224

1.50\-----,;;- ------;;';
O
l O ,---
;
:
----,;,';;-----
-- "fn- ------:-2"'" ,--------;;(
Time Is]

223
I 222
221
] 220
219
Figure 4. Barometric height in the same position during different days
218 '
' 2-----:'':-4 ------, 7'-' 6 ------=--
':":, 0,..----:'::
8-" --::':02 -----:2-:-:2-----=2':-4 --
The absolute heights in different time periods vary each Time [s]
time due to the different weather conditions, where the ambient
temperature measured again indicates one of the influences as

600
 Figure 5. Sensitivity test of barometer B. Sensor Fusion and Barometer Aiding

Sensor Fusion Mechanism

The initial tests confIrm that the barometric height has a
bias term to be calibrated, which varies among different tests
while remains quite steady during short time. Besides, it can be
inferred that a stable ambient temperature as well as moderate
ventilation will make for a good barometer behavior.
III. PROTOTYPE MULTI-SENSOR INTEGRATED SYSTEM
A. System Configuration
In terms of land-based application, the normal INS error
model using Euler angles as the attitude representation is
employed as the system process model in this prototype. The
system process model adopted is based on linearization without
making small misalignment angle assumptions. [4] In order to
deal with the nonlinearity of the system process model, the
extended Kalman Filter (EKF) is used to fuse the sensor data in
a loosely-coupled structure as depicted in Fig.7.

-2 ud"--,_tV"::/A':.s'
Estimated ' n

The prototype system integrates one commercial GPS ... ----------. r--J---,!!i' ttit-"'" ______
....r-----
...:!++(E+ r--
I
I
receiver, one low-cost IMU and one MEMS barometric :I angular
Tri-axis. ro bl:_

---- -, + }_+j ,'"" , o, t). i'7NS
E ln ' t , d
velocity : + Strapdown + + ....: Navigation
altimeter on a DSP platform, taking advantage of its powerful I: . .
-b :
INS Estitted rl'S :I output
+ +
L _co:c J
Tn-aXIS positIon
processing ability. The block diagram of the prototype is +
L __ j-=""'--'I---'-r-It-t
shown in Fig. 6.
t::ec
Estim ted
ac cr
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Swb
-------------------,
OPS
bws
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I

1 E!::S
posllton

I +
OPS

:
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velocity
V GPS
GPS data stream I I
I+----,.-I UART

:
GPS
---

:measurement
decoding
---I
I I
Navigation
Solutions I Estimated
attitude
Time pulse measurements
I
I PS G
r hGPS POOP,

B
I
h g t
L...VDO,
....l! P
I--------j
I Barometer

1 I
I
I
I
:I Barometrie_
height hbar'1 LPF Bias
L ________
I I Smoothed Calibration
I
I
i
b.1ro
l netrie
. Corrected
Barometric
I he1ght
height bias barometric
I
_

+ height
_____1 +

Figure 7. Sensor fusion with barometer augmentation

Figure 6. Block diagram of the prototype integrated system

According to the sensor interfaces available, independent
data channels are assigned for each sensor as indicated in Fig. 6
so that the processing load can be shared among different
hardware resources. In order to align the data from GPS, IMU
and the barometer, the time pulse signal from the GPS receiver
is taken to initiate the start of the multi-sensor system. The
DSP interrupt services the incoming time pulse and initiates the
timer which takes care of the sampling rate of the IMU. The
enhanced direct memory access (EDMA) is assigned for the
IMU to reserved DSP's processing time for other procedures.
The synchronization of barometer applies the same method
as IMU. One of the implementation issues of the barometer is
the conversion time of the pressure measurement, which
implies that the barometer measurement will be delayed for a
certain period of time. This conversion time varies upon
different sensors and affects the fInal frequency of the
barometer solution. As discussed in the last section, the ultra
low power mode of our pressure sensor with a fast conversion
time of less than 4.5 ms is chosen. The proper time slot for the
bidirectional communication via eC between the DSP core and
the barometer is controlled by the timer, resulting in a fIxed
measurement delay of 5ms.
In the current prototype, the GPS receiver works at 1 Hz,
while the IMU and the barometer run at 100 Hz.
The system states include position, velocity and attitude
errors in navigation frame, the bias errors of gyros and
accelerometers in body frame. The specific forces and angular
rates from the IMU are integrated to yield the position, velocity
and attitude estimates as the navigation output, while the
pesudorange and Doppler measurements, together with the
ephemeris data, from the GPS receiver are applied in the least
square estimator to derive the GPS position and velocity, as
well as the Dilution of Precision (DOP). The barometric height
is converted from the pressure measurements and augments the
GPS least square estimator.
Barometer Augmentation
The barometric aiding is realized based on the idea that the
GPS altitude information is relatively accurate when the
satellite signals are good; while the barometric altitude shows a
short-term characteristic that it is sensitive to the environment
changes like the ventilation and temperature, the barometric
height is frequently calibrated by good GPS height solutions.
At present, drift term is not considered, since the drift is very
small and the periods between successive calibrations are short.
As shown in the lower part of Fig. 7, the barometer bias is
estimated by the GPS height solution, when the GPS signal is
good. Here, the barometer bias includes not only the initial
sensor bias, but also the constant part such as the geoid
undulation and optionally, an offset of the barometer and the

601
GPS antenna. The calculated DOP, which indicates the satellite
geometry, is currently applied as the criteria of choosing a
good-quality GPS solution. The barometer altitude is calibrated
by the estimated bias term. Then, the calibrated barometric
altitudes are used to constrain the GPS height and provide an
additional vertical observable to the least square estimator
when the GPS is under challenged environment.

IV. FIELD EXPERIMENT AND ANALYSIS

A. System Deployment and Experiment Route

The initial experiment with the prototype system was
carried out with an auto.
The placement of the sensors is depicted in top picture of
Fig. 8.

Figure 9. Experiment trajectory in Google Earth

Figure 10. Elevation profile in Google Earth, maxim height difference 0[80
meters

B. Result Analysis

GPS Height and Barometric Height in Experiment

Both the GPS height from the least square estimator
(without augmentation) and the barometric height computed
from equation (1 ) with Po equal to 101325 Pa are illustrated in
Fig. 11 .

GPS Height vs. Barometric Height

400,,----c:.--.,...,----,:--,-------,
:
Figure 8. Sensor mounting and prototype system

The low-cost IMU was mounted on the top of the car roof,
as well as the GPS antenna which was about half meter ahead
to avoid the interference caused by the strong magnetic field.
The processing board of the prototype system, which is shown 100

in the bottom photo of Fig. 8, was placed on the back seat 50

3.171 3.172 3.173 3.1 3.175 3.176 3.177 3.178 3.179
inside the car. The barometer was fixed on the top of the rear Time of the week [s] X 10
5

seat and was about half meter under the car roof. A black
plastic housing was made for the barometer. Though not
sealed, it shaded the sensor against strong light.
The trajectory was chosen to drive between two hills in the
city of Siegen, Gennany, as depicted in Fig. 9. The total
duration of the car-driving was 1 5 minutes. The altitude
difference in this route is about 80 meters and is illustrated with '
X10
Time of the week [s) )(10'
the elevation profile from Google Earth in Fig. 10. Moreover,
this route also includes a part of highway and a part of Figure I I. GPS height vs. barometric height
residential area.

602
 The height results are in accord with each other with the
same slope. The top plot in Fig. 11 shows again the 50.912 2D position

vulnerability of GPS positioning in the vertical direction. The 50,91

--GPSLS
GPS altitude is bumpier than the one derived from barometer. 50.908 ---Integrated (baro-aid)
The two plots in the bottom of Fig. 11 are the magnified ol,) SO.906
portions from the first plot. These two plots demonstrate both . 50.904
-g
height solutions during the same period of time. The
....l 50.902
barometric height shows a fluctuation of around 2 meters in the
experiment, while the jump of the GPS height can easily 50.9
exceeds 2 meters. 50.898
50.896
50.894 '---
In the prototype system, the barometric height is obtained at
8.028 8.03 8.032 8.034 8.036 8.038 8.04 8.042 8.044 8.046 8.048
------------'
100 Hz and further smoothed by every 100 data. The [mal
Longitude
frequency of the barometer augmentation was at the same
frequency as the GPS solution. With smoothing, the noise level
of barometric height was reduced especially when there were Figure 14. 20 integrated position

no large height changes. The smoothed barometer height is

depicted in Fig. 12. In the right plot, the fluctuation was
reduced to less than 1 meter.
Integrated Height
400,,--'--'--'---r-.-',-----,
Barometric Height

350

-;- 150
O'h
Jj 100
1
50
L---;3:-:.1""72--------;
-: 3.1"'7;C =-
4 -----;3-:0;- 1. 7;;:6----;3c-:."'71 8 ,-------J ;17053.1713.17153.1723.1725 250
Time [s] 105
Time [5] 105
x x

200
L ::-:
3. 17 1----3-: :-.1':::c7=--
2 -=-3.17:-::- :-- 3-=-.-:':
3-----= 3.1-=-74 17-=-: 5 ---- =--=-- 3.17
3.-=- 17::-:6----3-: :-.1':::c
77 8----3
:-::- -= .1=-::-'
79
Figure 12. Smoothed barometric height 5
X 10
lime of the week [s]

Integrated Positioning Result Figure 15. Integrated height

The integrated positioning result using the barometer

The 2D positioning result in Fig. 14 doesn't show much
augmentation method was demonstrated through Fig. 13 to Fig.
improvement in the horizontal plane, while Fig .13 and Fig. 1 5
1 5. Fig. 13 is the plot of 3D position, while Fig. 14 and Fig. 1 5
illustrate the significant improvement achieved in the vertical
are detailed in the horizontal plane and the vertical direction,
direction.
respectively.

C. Practical Issues of Barometer

-
3D positin___j- - - ; -;-------,
"1 I ' _ -- GPS LS
_ -
__ - , __
,- - -- Integrated (baro-aid)
- ,
450 - - r- I
_
_ _ .J --1
I

j _ -['
- - l : , -
-
The barometer demonstrates a very promising performance
I , ,
j. - I ....
400 -- - - I I __ - - - 1 - I -- ,
-
during the field experiment, with a proper handling of the
_
I __ -- I __1_ - - barometer housing and placement. Two factors, discovered
j
___ ""-
_
350 -I I J _ ..J- I during the test, are worth pointing out.
I j.._ I _
1 _ 1' ....
_

-R - j ,
i 300 -- -- I _ - I - --: , -
1"'...... I ........ I
--- L_....--l' -- I ' .... ..J First, the roof window of the car was half open to let the
__ -,
250 - wires go through during the experiment. Therefore, certain
-- ,
1 amounts of ventilation were observed during the car drive.
200
50.92 ......
_ ..... However, its minor influence can be neglected in this
- 8.055
50.9t 8.05
8.045
experiment.
50.9 8.04
Latitude 8.035
8.03 Second, the measured ambient temperature observed a
50.89 8.025 Longitude
large change as depicted in Fig. 1 6. Nevertheless, the
barometric height was not much impacted by the temperature
Figure 13. 3D integrated position change.

603
 REFERENCES
Ambient temperature during car drive
[1] N. Hayashi, "Augmentation of GPS with a barometer and a heading rate
gyroscope for urban vehicular navigation," Department of geomatics
engineering, M.S. dissertation, University of Calgary, 1996.

[2] J. Parviainen, J. Kantola, and 1. Collin, "Differential barometry in

personal navigation," in Position, Location and Navigation Symposium,
2008 IEEEIION. 2008, pp. 148-152.

[3] "BMP085 digital pressure sensor data sheet ," Bosch Sensortec, 2009.
19 'c:.,7c-
3-"= , ----:
.
3-'=: '7=-2 ----:
3.-'=
: '7=-3 ----:C
3."= '7C--
4 -:C3."=
'7=-S ----;c
3."= ,76=---;:-"::=---;:-":::--
[4] 1. Zhou, S. Knedlik, E. Edwan, O. Loffeld, "Low-cost TNS/GPS with
Time of the \\eek [s]
nonlinear filtering methods," in Fusion 2010 (13th International
Conference on Information Fusion). Edinburgh, UK. 2010.
Figure 16. Ambient temperature during car drive

V. CONCLUSION AND FUTURE WORK

In this paper, the development of a low-cost multi-sensor

integrated navigation system based on a DSP platform is
addressed, with the emphasis on the system development of the
barometer augmentation. The performance of the MEMS
barometer used in the prototype system is fIrst investigated
through series of tests, which facilitates the implementation of
the prototype system, as well as the application in the driving
experiments. Then, the system confIguration and the sensor
fusing mechanism with barometer augmentation are explained.
The GPS/INS integration is carried out in a loosely-coupled
architecture, which is based on INS error model using Euler
angle. The barometer bias was calibrated by the GPS height
solution under good satellite geometry. The calibrated
barometric height augments the GPS least square estimator,
which constrains the GPS solution in the vertical direction and
increases the vertical observability. Finally, a car-driving
experiment in the hilly area was conducted and the positioning
results with the barometer aiding are investigated. SignifIcant
improvement in the vertical performance was observed in the
experiment.
As a follow-up, the prototype can be further explored: On
one hand, experiments in other scenarios are expected, for
example travelling through the tunnel etc. On the other hand,
other augmentation mechanism of the barometer can be
implemented. For example, the barometric height solution at
higher frequency can be utilized to update the IMU, which
might further improve the augmentation effect.

ACKNOWLEDGMENT

Part of the work reported herein has been funded by the

German Research Foundation (DFG), grant number KN 87611 -
2, which is gratefully acknowledged.
The authors would like to thank all members of the
navigation group for valuable suggestions and discussions.
Special thanks to Mr. Wolf Twelsiek for building the sensor
housing.

604