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Showing papers on "GPS/INS published in 1984"



19 Jan 1984
TL;DR: The accuracy requirements for precise horizontal positioning of a moving vessel in the offshore and open ocean are expected to approach the 3m to Sm level within this decade Previous simulation studies and lan d-based tests have shown that such a level of accuracy can be achieved by a combination of inertial navigation and GPS satellite positioning techniques as mentioned in this paper.
Abstract: The accuracy requirements for precise horizontal positioning of a moving vessel in the offshore and open ocean are expected to approach the 3m to Sm level within this decade Previous simulation studies and lan d-based tests have shown that such a level of accuracy can be achieved by a combination of inertial navigation and GPS satellite positioning techniques A Kalman filter and an optimal smoother have been developed to integrate an inertial navigation system with a slow switching GPS satellite receiver for marine positioning purposes The Kalman filter and optimal smoother were tested on the Canadian east coast in November 1982 The paper outlines first the operational principle of the GPS aided inertial navigation system and the development of the Kalman filter and smoother It then presents the results and a detailed error analysis of the offshore tests

4 citations


Journal ArticleDOI
TL;DR: In this paper, the authors present an algorithm for utilizing the real time spatial measurements of anomaly as obtained from using the vertical channel of a precise marine INS with the spatial undulation measurements that have been previously measured and recorded for estimating gravity deflection.
Abstract: Gravitational vertical deflections have long been a major error source in a precise inertial navigation system (INS). By utilizing the vertical acceleration outputs of a precise INS as a gravimeter the medium and high frequency components of gravity deflections can be estimated as the vehicle maneuvers. By combining these estimates with stored undulation measurements obtained from satellite altimetery data low frequency gravity information can also be estimated. The major portion of position and velocity error in a precise marine INS caused by gravity deflection can thus be compensated for in a self-contained real time manner. This paper presents an algorithm for utilizing the real time spatial measurements of anomaly as obtained from using the vertical channel of a precise marine INS with the spatial undulation measurements that have been previously measured and recorded for estimating gravity deflection. This algorithm provides a marginally optimal method of handling a large array of measurements to utilize the most significant ones. Estimates of gravity deflection are applied in real time to improve navigation velocity and position.

3 citations