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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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Journal ArticleDOI
TL;DR: In this paper, several Global Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented Kalman Filter (UKF), and evaluated with respect to performance and complexity.
Abstract: In this paper, several Global Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented Kalman filter (UKF), and evaluated with respect to performance and complexity. The contributions of this study are that attitude estimates are compared with independent measurements provided by a mechanical vertical gyroscope using 23 diverse sets of flight data, and that a fundamental difference between EKF and UKF with respect to linearization is evaluated.

98 citations

Patent
07 Feb 1992
TL;DR: In this article, a Kalman filter is used to combine data from the global positioning system (GPS) and the inertial navigation system (INS) to provide accurate enroute information.
Abstract: Data from long range aids such as the global positioning system (GPS) and an inertial navigation system (INS) and short range aids such as a microwave londing system (MLS) are used to smoothly and automatically transition an aircraft from the long range aids to the short range aids. During cruise a Kalman filter (70) combines data from the global positioning system and the inertial navigation system to provide accurate enroute information. When the aircraft arrives in the vicinity of the airport and begins to acquire (70) data from the microwave landing system, the Kalman filter (70) is calibrated with the MLS data to permit precision landing with GPS/INS data alone in case the MLS system subsequently fails. In addition, navigation information begins to be derived from a weighted sum of the GPS/INS and MLS data, the weighting being determined by distance from the airport. In a first region farthest from the airport, the GPS/INS data is given a 1.0 weighting factor; and in a second region nearest the airport, the MLS data is given a 1.0 weighting factor. In a third region intermediate the first and second regions, the GPS/INS data and MLS data are proportionately and complementarily weighted as a function of the distance from the airport. If the MLS system fails, the weighting system (76, 78, 80) is disabled (84) and navigation data is again derived from the GPS/INS combination. In addition, the data from both systems are monitored (74), and a cockpit alarm is sounded if the data diverged beyond a specific amount. The Kalman filter (70) supplies a weighting system comprising two weighting devices (76, 78), one (76) of which weights the MLS data, and the other (78) the GPS/INS combination data. The outputs of these devices (76, 78) are summed (80) and supplied to one terminal of a switch (84) for selecting between the weighting system (76, 78, 80) and the Kalman filter (70).

97 citations

Patent
07 Aug 1992
TL;DR: In this paper, a method and apparatus for processing data from a positioning or navigation system, such as global positioning system (GPS) navigation system data, is described, which includes a point position estimator (which preferably approximates a maximum likelihood estimator) to generate point estimate data, and a smoothing filter for smoothing the point position estimate data.
Abstract: A method and apparatus for processing data from a positioning or navigation system, such as global positioning system (GPS) navigation system data. In preferred embodiments, the invention is a method and apparatus for estimating position based on GPS measurements and optionally, measurements from other types of navigation sensors combined with GPS navigation system data. The apparatus of the invention includes a point position estimator (which preferably approximates a maximum likelihood estimator) for processing data from a positioning or navigation system to generate point position estimate data, and a smoothing filter for smoothing the point position estimate data. The smoothing filter can be a linear Kalman filter.

97 citations

Journal ArticleDOI
TL;DR: This paper discusses mobile robot position estimation without using external signals in indoor environments and proposes a Kalman filter that estimates the orientation and velocity of mobile robots, which combines INS and odometry and delivers more accurate position information than standalone odometry.
Abstract: Inertial navigation systems (INS) are composed of inertial sensors, such as accelerometers and gyroscopes. An INS updates its orientation and position automatically; it has an acceptable stability over the short term, however this stability deteriorates over time. Odometry, used to estimate the position of a mobile robot, employs encoders attached to the robot’s wheels. However, errors occur caused by the integrative nature of the rotating speed and the slippage between the wheel and the ground. In this paper, we discuss mobile robot position estimation without using external signals in indoor environments. In order to achieve optimal solutions, a Kalman filter that estimates the orientation and velocity of mobile robots has been designed. The proposed system combines INS and odometry and delivers more accurate position information than standalone odometry.

96 citations

Patent
27 Dec 1996
TL;DR: In this article, an improved vehicle navigation system and method uses information from a Global Positioning System (GPS) to obtain velocity vectors, which include speed and heading components, for propagating or dead reckoning the vehicle position from a previous position to a current position.
Abstract: The improved vehicle navigation system and method uses information from a Global Positioning System (GPS) to obtain velocity vectors, which include speed and heading components, for propagating or "dead reckoning" the vehicle position from a previous position to a current position. The improved vehicle navigation system has a GPS receiver which provides the GPS velocity information which is calculated from a full set of GPS delta range measurements. GPS position data alone is not accurate enough for certain applications, such as turn-by-turn route guidance in automobile applications, because its error may be 100 m and there is considerable position drift, even when stationary. GPS velocities are much more accurate than the position data, 1 m/s or thereabouts, and can be used to propagate a known position forward and be more accurate over time than the GPS position solution. These velocities are instantaneous and not those computed from differencing two positions. The current position is calculated by adding displacements obtained from the GPS velocities to the previous position.

96 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202317
202247
20219
202013
201925
201840