GPS/INS

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

A new tightly-coupled INS/CNS integrated navigation algorithm with weighted multi-stars observations:

Abstract: Integrating celestial navigation system (CNS) and inertial navigation system (INS) is an effective way to realize autonomous navigation for hypersonic cruise vehicles. In multi-stars synchronous ob...

Improvement of the positioning accuracy of a software-based GPS receiver using a 32-bit embedded microprocessor

Abstract: This paper describes the improvement of the positioning accuracy of a GPS receiver, using software to apply the GPS to compact, hand-held devices. Differential GPS (DGPS) with a software FM demodulator, and a modified Kalman filter is proposed and applied to a GPS receiver. The positioning accuracy is, 35 m with a standalone GPS, 9 m with DGPS and 15 m with a Kalman filter. With both methods, the positioning accuracy is drastically improved to 2 m.

Land Vehicle Navigation with the Integration of GPS and Reduced INS: Performance Improvement with Velocity Aiding

Abstract: The movement of a land vehicle is constrained because the vehicle always remains on the Earth's surface and only experiences small pitch and roll angles. So the GPS/INS integrated system for land vehicle navigation could be reconfigured to be the integration of GPS and reduced INS to cut down the costs. In a reduced INS, the vertical accelerometer and two horizontal gyros could be omitted from the system. But both theoretical analysis and experimental results show that this configuration may result in the divergence of height solution and large velocity errors. To improve the system performances, precise velocity derived from GPS carrier phase measurements, together with the GPS single point positioning solution, is used to aid the reduced INS. Field test results have demonstrated that first, the aiding from GPS precise velocity overcomes the divergence problem of the integrated height solutions and improves the integrated velocity and secondly the proposed novel integration scheme could achieve comparable navigation accuracy with that from the GPS and full INS integrated system.

Measurement-Level Integration of Carrier-Phase GPS and Laser-Scanner for Outdoor Ground Vehicle Navigation

Abstract: This paper introduces a navigation system based on combined global positioning system (GPS) and laser-scanner measurements for outdoor ground vehicles. Using carrier-phase differential GPS, centimeter-level positioning is achievable when cycle ambiguities are resolved. However, GPS signals are easily attenuated or blocked, so their use is generally restricted to open-sky areas. In response, in this work we augment GPS with two-dimensional laser-scanner measurements. The latter is available when GPS is not and further enables obstacle detection. The two sensors are integrated in the range domain for optimal navigation performance. Nonlinear laser observations and time-correlated code and carrier-phase GPS signals are processed in a unified and compact measurement-differencing extended Kalman filter. The resulting algorithm performs real-time carrier-phase cycle ambiguity estimation and provides absolute vehicle positioning throughout GPS outages, without a priori knowledge of the surrounding landmark locations. Covariance analysis, Monte Carlo simulations, and experimental testing in the streets of Chicago demonstrate that the performance of the range-domain integrated system far exceeds that of a simpler position-domain implementation, in that it not only achieves meter-level precision over extended GPS-obstructed areas, but also improves the robustness of laser-based simultaneous localization and mapping.

INS/GPS integrated navigation filter algorithm based on cubature Kalman filter

Abstract: The essence of INS/GPS navigation is nonlinear. To deal with the accuracy of INS/GPS navigation under nonlinear, a new nonlinearfiltering method, cubature Kalmanfilter(CKF), is applied to the INS/GPS navigation. Therefor, the nonlinear state model based on the platform misalignment angle and the observation model described by the velocity error and position error is established, the CKF filtering principle is analyzed and the INS/GPS integrated filter is designed to simulate nonlinear model. Simulation results show that CKF reduces the estimation errors of attitude, position and speed compared with extended Kalman filter(EKF), and CKF prefers to deal with the state estimation problem of integrated navigation.