Open Access
INS/GPS Integration Architectures
TLDR
This presentation will focus on integration architectures, including loosely coupled, tightly coupled, and deeply integrated configurations, and the advantages and disadvantages of each level of integration will be listed.Abstract:
: An inertial navigation system (INS) exhibits relatively low noise from second to second, but tends to drift over time Typical aircraft inertial navigation errors grow at rates between 1 and 10 nmi/h (18 to 18 km/h) of operation In contrast, Global Positioning System (GPS) errors are relatively noisy from second to second, but exhibit no long-term drift Using both of these systems is superior to using either alone Integrating the information from each sensor results in a navigation system that operates like a drift-free INS There are further benefits to be gained depending on the level at which the information is combined This presentation will focus on integration architectures, including loosely coupled, tightly coupled, and deeply integrated configurations (Deep integration is trademarked by Draper Laboratory) The advantages and disadvantages of each level of integration will be listed Examples of current and future systems will be citedread more
Citations
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INS/GPS Technology Trends
TL;DR: Accuracy and other technology trends for inertial sensors, Global Positioning Systems (GPS), and integrated Inertial Navigation System (INS)/GPS systems, including considerations of interference, that will lead to better than 1 meter accuracy navigation systems of the future are focused on.
Journal ArticleDOI
Navigation sensors and systems in GNSS degraded and denied environments
TL;DR: Recent advances in navigation sensor technology, including GPS, inertial, and other navigation aids that address concerns about the availability and reliability of GPS signals are summarized.
Patent
Position tracking system and method using radio signals and inertial sensing
TL;DR: In this article, an inertial sensor is used to improve position stability by allowing the system to compare position data from radio signals to data provided by the inertial sensors, and the system uses a plurality of receiver antennas to receive the device's radio signal at each antenna.
Journal ArticleDOI
Enhancing the reliability of mobile robots control process via reverse validation
TL;DR: The article analyses the dynamic properties of the sensors of the inertial unit, for example, gyroscopes and accelerometers, which are regarded as primary inertial sensors or other sensors located on the navigated object.
Journal ArticleDOI
Railway irregularity measuring using Rauch–Tung–Striebel smoothed multi-sensors fusion system: quad-GNSS PPP, IMU, odometer, and track gauge
TL;DR: A multi-sensors fusion system consisting of multi-constellation global navigation satellite systems (GNSS)-based precise point positioning, inertial navigation system, odometer, and track gauge is proposed and is further enhanced by using the Rauch–Tung–Striebel smoother.
References
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Book
Global Positioning Systems, Inertial Navigation, and Integration
TL;DR: The authors explore the various subtleties, common failures, and inherent limitations of the theory as it applies to real-world situations, and provide numerous detailed application examples and practice problems, including GNSS-aided INS, modeling of gyros and accelerometers, and SBAS and GBAS.
Proceedings ArticleDOI
A deeply integrated adaptive GPS-based navigator with extended range code tracking
TL;DR: This paper presents a new approach to GPS-based navigation which offers significant improvement in antijam capability over traditional designs and results of hardware-in-the-loop simulations are presented which demonstrate improvements of 15 dB or more.
Journal ArticleDOI
A Nonlinear Code Tracking Filter for GPS-Based Navigation
TL;DR: A nonlinear code tracking filter is developed whose architecture is based on a rigorous minimum-variance solution of the navigation problem, rather than using prespecified tracking loop architectures.
Feasibility Study of GPS-Inertial Navigation for Helicopters and Study of Advanced GPS Signal Processing Techniques. Volume III.
TL;DR: The conclusion is reached that a GPS-Doppler navigation system can more easily attain the cost and performance goals and might be very attractive if it could be used for providing attitude and heading reference data as well as navigation data.