Topic
GPS/INS
About: GPS/INS is a research topic. Over the lifetime, 3554 publications have been published within this topic receiving 62784 citations.
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TL;DR: Through flight tests, it is shown that the PIKF has an obvious accuracy advantage over the IEKF and unscented Kalman filter (UKF) in velocity.
Abstract: This paper deals with the problem of state estimation for the integration of an inertial navigation system (INS) and Global Positioning System (GPS). For a nonlinear system that has the model error and white Gaussian noise, a predictive filter (PF) is used to estimate the model error, and based on this, a modified iterated extended Kalman filter (IEKF) is proposed and is called predictive iterated Kalman filter (PIKF). The basic idea of the PIKF is to compensate the state estimate by the estimated model error. An INS/GPS integration system is implemented using the PIKF and applied to synthetic aperture radar (SAR) motion compensation. Through flight tests, it is shown that the PIKF has an obvious accuracy advantage over the IEKF and unscented Kalman filter (UKF) in velocity.
121 citations
TL;DR: It is shown that height aiding using a DTM and the RRF significantly improve the accuracy of position provided by inexpensive single frequency GPS receivers, thus providing an autonomous alternative to DGPS for in‐car navigation and fleet management.
Abstract: A novel method of map matching using the Global Positioning System (GPS) has been developed for civilian use, which uses digital mapping data to infer the systematic position errors of less than 100m which result largely from ‘selective availability’ (S/A) imposed by the US military. Selective availability was switched off on the 2nd of May 2000, and is to be replaced with ‘regional denial capabilities in lieu of global degradation’. The system tracks a vehicle on all possible roads (road centre-lines) in a computed error region, then uses a method of rapidly detecting inappropriate road centre-lines from the set of all those possible. This is called the Road Reduction Filter (RRF) algorithm. Point positioning is computed using C/A code pseudorange measurements direct from a GPS receiver. The least squares estimation is performed in the software developed for the experiment described in this paper. Virtual differential GPS (VDGPS) corrections are computed and used from a vehicle's previous positions, thus providing an autonomous alternative to DGPS for in-car navigation and fleet management. Height aiding is used to augment the solution and reduce the number of satellites required for a position solution. Ordnance Survey (OS) digital map data was used for the experiment, i.e. OSCAR 1 m resolution road centre-line geometry and Land Form PANORAMA 1:50,000, 50 m-grid digital terrain model (DTM). Testing of the algorithm is reported and results are analysed. Vehicle positions provided by RRF are compared with the ‘true’ position determined using high precision (cm) GPS carrier phase techniques. It is shown that height aiding using a DTM and the RRF significantly improve the accuracy of position provided by inexpensive single frequency GPS receivers.
121 citations
Patent•
04 Aug 2009
TL;DR: In this paper, an Ultra-Tightly Coupled GPS-inertial navigation system for use in a moving agile platform includes a range residual extractor that uses best curve fitting of a third order polynomial for estimating range residual.
Abstract: An Ultra-Tightly Coupled GPS-inertial navigation system for use in a moving agile platform includes a range residual extractor that uses best curve fitting of a third order polynomial for estimating range residual. The curve-fitted residual is used to update an error Kalman filter. The error Kalman filter includes correction for navigation solution, and IMU and GPS parameters. The navigation solution together with GPS parameter corrections are used in a Tracking Predictor to generate high-sampling-rate carrier and code replicas. The curve-fitting error covariance indicates signal to noise ratio for the tracked GPS signal and may be used for early indication of interference or jamming.
120 citations
TL;DR: A novel adaptive-fuzzy-network-based C-measure algorithm is proposed, which can find the exact road on which a car moves and is easy to calculate, and calculation time does not increase exponentially with the increase of junctions.
Abstract: Most car navigation systems estimate the car position from dead reckoning and the Global Positioning System (GPS). However, because of the unknown GPS noise, the estimated position has an undesirable error. To solve this problem, a map-matching method is introduced, which uses a digital road map to correct the position error. In this paper, a novel adaptive-fuzzy-network-based C-measure algorithm is proposed, which can find the exact road on which a car moves. The C-measure algorithm is easy to calculate, and calculation time does not increase exponentially with the increase of junctions. For the experiments, a car navigation system is implemented with a small number of sensors. The real road experiments demonstrate the effectiveness and applicability of the proposed algorithm and the developed car navigation system.
119 citations
Patent•
22 Apr 1992
TL;DR: In this article, the authors propose an on-board navigation apparatus in which coordinate data of formerly set designations are held in a memory, the destination coordinate data stored in the memory are read out at the time of destination setting, and one piece of destination coordinates is selected from the read designation coordinate data in accordance with an operation input to set a destination according to the selected one piece.
Abstract: An on-board navigation apparatus in which coordinate data of formerly set designations are held in a memory, the destination coordinate data stored in the memory are read out at the time of destination setting, and one piece of destination coordinate data is selected from the read designation coordinate data in accordance with an operation input to thereby set a destination according to the selected one piece of destination coordinate data. The arrangement can allow a user to easily set the same destination as a formerly set destination only by a simple selecting operation.
119 citations