GPS/INS

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

Map-based land vehicle navigation system with DGPS

Abstract: Commercial automobile navigation systems currently employ a Global Positioning System (GPS) receiver coupled with a dead reckoning system and a map-matching algorithm. The dead reckoning system, which compensates for GPS inaccuracies and frequent GPS signal obstructions, employs an odometer, a directional sensor, and a backlight signal. The dead reckoning system along with a map-matching algorithm updates the position whenever the vehicle completes a sharp turn into a street whose position is distinguishable on the stored map. In this paper a positioning system is proposed, which employs only a DGPS or GPS receiver and a map-matching algorithm. The algorithm correlates the received power from different GPS satellite vehicles (SVs), leading to a specific signature, to a stored map with periodic time-varying estimates of SVs received powers. An experimental approach is presented to examine the feasibility of applying the proposed positioning system.

Kalman filtered GPS accelerometerbased accident detection and location system: A low-cost approach

Abstract: A low-cost accident detection system utilizing cheap ADXL345 accelerometers and GPS receiver is proposed in this communication. The accident detection algorithm was developed based on sudden deceleration. The double integration of the acceleration and heading from the tilt angles of accelerometers were used to determine the location. Kalman filter was utilized to correct the accumulated double integration errors with the trusted GPS data. The field tests demonstrated the correct functioning of the accident detection algorithm and location. The proposed lowcost system can save many lives by the automated accident detection and accurate location even during GPS outage.

Loosely coupled GPS/INS integration with Kalman filtering for land vehicle applications

Abstract: Nowadays, global positioning system (GPS) has been used widely in land vehicles to provide positioning services. However, information from this stand-alone device may be interrupted under some circumstances such as: urban environment, under the tunnels, etc. In addition, low-rate sample time typically 1Hz is another drawback of GPS. Therefore, GPS receiver can be augmented with the inertial navigation system (INS) to provide faster positioning information. By fusing GPS and INS data, the errors are bounded and accuracy increases considerably even when using low-cost INS and GPS. This paper presents a method of INS/GPS integration where a loosely coupled model is formulated and an extended Kalman filter is then applied to estimate information about position, velocity, and acceleration. Experiment results show that the processing time is reduced significantly but the estimated errors are acceptable (less than 1 meters) when applying the proposed integration method under the good signal of GPS. The performance evaluation is also implemented on several road trajectories in urban city that the 3 meters precision could be reached. In addition, accurate positioning and navigation results are still available from 9 to 14 seconds of GPS outages with the position errors spread from 3 to 10 meters (RMS).

A Lagrangian drifter with inexpensive wide area differential GPS positioning

Abstract: Autonomous drifting buoys that acquire position data using Global Positioning System (GPS) navigation have proven valuable in Lagrangian measurement applications requiring greater accuracy and data density than is available through other technologies such as ARGOS satellite tracking. The limits on measurement accuracy in a GPS drifter are set by the geographic accuracy of the GPS position. Standard civilian receivers are affected by the purposeful degradation of GPS accuracy (termed Selective Availability or SA), which result in position measurement inaccuracies of up to +/- 100 meters. A 100 meter error over a 30 minute timespan between drifter positions results in a 6 cm/sec error in computed current velocity, a potential error which grows larger as shorter position recording intervals are used. Improvement of the accuracy of GPS positioning would allow use of GPS drifters in an even wider range of current measurement applications that demand tine spatial and temporal resolution. Differential GPS (DGPS) refers to a technique that uses GPS data from a reference station at a well known location to calculate corrections that are then used to improve the accuracy of GPS positions at a less well known location. DGPS can increase the accuracy of standard civilian receivers to +/$20 meters or better. Conventional DGPS relies on real-time telemetry of correction data from one or more reference station to the GPS receiver that requires correction. This method can be difficult, expensive, and is not available at all locations. A drifter equipped for conventional DGPS must have a telemetry receiver which adds cost and requires power. Moreover, the telemetry link must be maintained reliably during data acquisition or DGPS position accuracy is lost. If real-time results are not required, however, a Wide Area Differential GPS (WADGPS) method can be used in pose-processing to remove the effects of SA from drifter data. The requirements in the drifter are some additional data memory, minor firmware changes, and a GPS engine configured to output raw GPS satellite data (called "pseudoranges"). During a deployment, the pseudorange data is stored in drifter memory while standard GPS positions are telemetered and stored to assist in deployment logistics. After retrieval, the pseudoranges are converted to DGPS-accurate positions using software and correction data provided by the Canadian Active Control System (CACS). CACS is a global network of automated GPS reference stations pioneered by the Canadian government for survey applications. Correction information is available from CACS at a modest fee with a few days delay from real time. Dockside testing of WADGPS correction showed a reduction in 2 dimensional rms position errors from +/- 33.5 to +/$9.3 meters. Several Brightwaters Modal 104AV autonomous GPS drifters have been fitted with a WADGPS upgrade. A full field test of WADGPS correction of drifter data will be conducted in August 1996.

GPS/SINS Integrated Navigation System Based on Multi-scale Preprocessing

Abstract: In the GPS/SINS integrated navigation system,the precision of inertial elements and GPS output is the important factor which affects the precision of integrated navigation system.Thus,based on the idea of multi-scale analysis,this paper uses wavelet to de-noise in parallel the inertial elements in order to abate the effect of inertial element on SINS and integrated navigation system;then the parallel multi-scale process is introduced to GPS output,and the Kalman filtering algorithm based on measurement multi-scale preprocessing is given combining the traditional Kalman filter;at last,the above method is introduced to the GPS/SINS integrated navigation system,the measured data is used to verify the above method,and many experimental curves are given based on different methods.It is shown that this method can effectively decrease the effect of error of inertial elements and GPS output on the overall system and improve the precision and reliability of navigation.