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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 article, a motion simulation table was used as a test station, simulating various types of 2D motions of either tall buildings in a horizontal plane or long-span bridges in a vertical plane.
Abstract: Global positioning system (GPS) technology is an emerging tool for measuring and monitoring both static and dynamic displacement responses of large civil engineering structures to gust winds. The accuracy of dynamic displacement measurement using GPS at a subcentimeter to millimeter level, however, depends on many factors such as data sampling rate, satellite coverage, atmospheric effect, multipath effect, and GPS data processing methods. This paper aims to assess the dynamic displacement measurement accuracy of GPS in three orthogonal directions for applications in civil engineering. For this purpose, a motion simulation table was first developed as a test station, simulating various types of 2D motions of either tall buildings in a horizontal plane or long-span bridges in a vertical plane. The antenna of a GPS receiver was then installed on the motion simulation table and was used to measure the table motion in an open area. A band-pass filtering scheme was finally designed and applied to the table motion data recorded by the GPS. The comparison of the table motion recorded by the GPS with the original motion generated by the table shows that the GPS can measure horizontal and vertical dynamic displacements accurately within a certain amplitude and frequency range. The test results also demonstrate that the GPS can trace wind-induced dynamic displacement responses measured from a tall building in the horizontal plane and a long-span bridge deck in the vertical plane satisfactorily.

94 citations

Journal ArticleDOI
TL;DR: A dead-reckoning construction for land navigation and sigma-point-based receding-horizon Kalman finite-impulse response (SPRHKF) filter for DR/GPS integration system that works well even in the case of exiting the unmodeled random walk of the inertial sensors.
Abstract: This paper describes a dead-reckoning (DR) construction for land navigation and sigma-point-based receding-horizon Kalman finite-impulse response (SPRHKF) filter for DR/GPS integration system. A simple DR construction is adopted to improve the performance of both pure land DR navigation and DR/GPS integration system. In order to overcome the flaws of the extended Kalman filter (EKF), the sigma-point KF (SPKF) is merged with the receding-horizon strategy. This filter has several advantages over the EKF, the SPKF, and the RHKF filter. The advantages include the robustness to the system model uncertainty, the initial estimation error, temporary unknown bias, etc. The computational burden is reduced. Especially, the proposed filter works well even in the case of exiting the unmodeled random walk of the inertial sensors, which can occur in the microelectromechanical systems' inertial sensors by temperature variation. Therefore, the SPRHKF filter can provide the navigation information with good quality in the DR/GPS integration system for land navigation seamlessly

94 citations

Journal ArticleDOI
15 Aug 2013-Sensors
TL;DR: The proposed method is described and applied in a real-time integrated system with two integration strategies, namely, loosely coupled and tightly coupled schemes, respectively, and aims to avoid the multipath problem.
Abstract: The integration of an Inertial Navigation System (INS) and the Global Positioning System (GPS) is common in mobile mapping and navigation applications to seamlessly determine the position, velocity, and orientation of the mobile platform. In most INS/GPS integrated architectures, the GPS is considered to be an accurate reference with which to correct for the systematic errors of the inertial sensors, which are composed of biases, scale factors and drift. However, the GPS receiver may produce abnormal pseudo-range errors mainly caused by ionospheric delay, tropospheric delay and the multipath effect. These errors degrade the overall position accuracy of an integrated system that uses conventional INS/GPS integration strategies such as loosely coupled (LC) and tightly coupled (TC) schemes. Conventional tightly coupled INS/GPS integration schemes apply the Klobuchar model and the Hopfield model to reduce pseudo-range delays caused by ionospheric delay and tropospheric delay, respectively, but do not address the multipath problem. However, the multipath effect (from reflected GPS signals) affects the position error far more significantly in a consumer-grade GPS receiver than in an expensive, geodetic-grade GPS receiver. To avoid this problem, a new integrated INS/GPS architecture is proposed. The proposed method is described and applied in a real-time integrated system with two integration strategies, namely, loosely coupled and tightly coupled schemes, respectively. To verify the effectiveness of the proposed method, field tests with various scenarios are conducted and the results are compared with a reliable reference system.

93 citations

Journal ArticleDOI
16 Oct 2015-Sensors
TL;DR: A newly-developed direct georeferencing system for the guidance, navigation and control of lightweight unmanned aerial vehicles (UAVs), having a weight limit of 5 kg and a size limit of 1.5 m, and for UAV-based surveying and remote sensing applications is presented.
Abstract: In this paper, a newly-developed direct georeferencing system for the guidance, navigation and control of lightweight unmanned aerial vehicles (UAVs), having a weight limit of 5 kg and a size limit of 1.5 m, and for UAV-based surveying and remote sensing applications is presented. The system is intended to provide highly accurate positions and attitudes (better than 5 cm and 0.5°) in real time, using lightweight components. The main focus of this paper is on the attitude determination with the system. This attitude determination is based on an onboard single-frequency GPS baseline, MEMS (micro-electro-mechanical systems) inertial sensor readings, magnetic field observations and a 3D position measurement. All of this information is integrated in a sixteen-state error space Kalman filter. Special attention in the algorithm development is paid to the carrier phase ambiguity resolution of the single-frequency GPS baseline observations. We aim at a reliable and instantaneous ambiguity resolution, since the system is used in urban areas, where frequent losses of the GPS signal lock occur and the GPS measurement conditions are challenging. Flight tests and a comparison to a navigation-grade inertial navigation system illustrate the performance of the developed system in dynamic situations. Evaluations show that the accuracies of the system are 0.05° for the roll and the pitch angle and 0.2° for the yaw angle. The ambiguities of the single-frequency GPS baseline can be resolved instantaneously in more than 90% of the cases.

93 citations

Patent
12 Nov 2003
TL;DR: In this article, the authors present a trajectory guidance system without gyros in which a triax of accelerometers providing x, y and z acceleration data measured along the x,y and z axes respectively.
Abstract: A projectile guidance system without gyros in which the projectile has an orthogonal body coordinate system. The projectile has a triax of accelerometers providing x, y and z acceleration data measured along the x, y and z axes respectively. A GPS antenna and receiver means provides onboard GPS position and velocity data in earth referenced navigational coordinates. A computer and program means stores and accesses time indexed GPS position and GPS velocity data and transforms x, y and z axis acceleration data from body to navigation coordinates. The program means is responsive to corresponding time indexed acceleration data and to GPS velocity and position data for calculating and outputting an estimated projectile roll, pitch and yaw angle via optimal smoothing techniques with respect to local level for each time index iteration of present position to a flight control system, which actuates a divert propulsion system for guiding the projectile to a predetermined location.

93 citations


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