GPS/INS

About: GPS/INS is a research topic. Over the lifetime, 3554 publications have been published within this topic receiving 62784 citations.

Performance of a deeply coupled commercial grade GPS/INS system from KVH and NovAtel Inc.

Abstract: NovAtel Inc. and KVH Industries have jointly developed a commercial grade, single enclosure GPS/INS system. The integrated KVH CG-5100 IMU features fiber-optic gyros and MEMs accelerometers, and provides inertial data at 100 Hz. NovAtelpsilas OEMV3 receiver is the GPS engine. Weighing 5.2 lbs, the combined system will feature the tightly coupled architecture that is a key characteristic of NovAtelpsilas SPAN (Synchronized Position Attitude Navigation) technology. The GPS receiver provides aiding information for the INS, and is reciprocally aided by feedback from the INS to improve signal tracking. The feedback from the INS to the GPS engine is the deeply coupled aspect of the system. It is also tightly coupled. GPS measurements are used to update the INS filter, providing high quality aiding information whenever there are least two satellites available. The combined system has an optional wheel sensor, which is used to further aid the INS during times of reduced GPS availability in land vehicle applications.

Cooperative relative localization using Vehicle-To-Vehicle communications

Abstract: The estimation of a vehicle's dynamic state is one of the most fundamental data fusion tasks for Intelligent Transportation Systems. This paper presents a decentralized data fusion system, which estimates the relative position between traffic participants. For that, GPS pseudorange measurements and ego motion estimations are exchanged by Vehicle-To-Vehicle communications and incorporated by a relative motion model. Particle filtering is used for the tight coupled relative GPS/INS integration.

Q-factor map matching method using adaptive fuzzy network

Abstract: Many hybrid algorithms which estimate car's position and velocity from GPS signals and INS signals suffer from the unknown GPS noise characteristics such as S/A noise. The unknown characteristics make it impossible to remove the noise completely. As a result, the estimated position information from the hybrid algorithms will be contaminated with undesirable position errors. It is very desirable and effective to use a digital road map to correct the position error, which is known as a map matching method. In this paper, a novel map matching method is proposed. The effectiveness of this algorithm is verified by the real road experiments. For experimental testing, a car navigation system is built with a DSP chip. It uses one GPS receiver, one vehicle speed sensor and one vertical gyroscope.

GA-SVR and Pseudo-position-aided GPS/INS Integration during GPS Outage

Abstract: The performance of Global Positioning System and Inertial Navigation System (GPS/INS) integrated navigation is reduced when GPS is blocked. This paper proposes an algorithm to overcome the condition where GPS is unavailable. Together with a parameter-optimised Genetic Algorithm (GA), a Support Vector Regression (SVR) algorithm is used to construct the mapping function between the specific force, angular rate increments of INS measurements and the increments of the GPS position. During GPS outages, the real-time pseudo-GPS position is predicted with the mapping function, and the corresponding covariance matrix is estimated by an improved adaptive filtering algorithm. A GPS/INS integration scheme is demonstrated where the vehicle travels along a straight line and around a curve, with respect to both low-speed-stable and high-speed-unstable navigation platforms. The results show that the proposed algorithm provides a better performance when GPS is unavailable.

A test of precision GPS clock synchronization

Abstract: This paper describes tests of precision GPS time transfer using geodetic-quality TurboRogue receivers. The GPS data are processed with the GIPSY-OASIS II software, which simultaneously estimates the GPS satellite orbits and clocks, receiver locations and clock offsets, as well as other parameters such as Earth orientation. This GPS solution technique, which emphasizes high accuracy GPS orbit determination and observable modeling, has been shown to enable sub-1 ns time transfer at global distance scales. GPS-based monitoring of clock performance has been carried out for several years through JPL's high precision GPS global network processing. The paper discusses measurements of variations in relative clock offsets down to a level of a few tens of picoseconds. GPS-based clock frequency measurements are also presented.