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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.


Papers
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Journal ArticleDOI
14 Apr 2015-Sensors
TL;DR: The results show the TC GPS/BDS/INS system significantly improves the single-epoch AR reliability as compared to that of GPS/bDS-only or single satellite navigation system integrated strategy, especially for high cut-off elevations, and the AR performance is significantly improved for the combined system with adaptive covariance matrix.
Abstract: The integration of Global Navigation Satellite Systems (GNSS) carrier phases with Inertial Navigation System (INS) measurements is essential to provide accurate and continuous position, velocity and attitude information, however it is necessary to fix ambiguities rapidly and reliably to obtain high accuracy navigation solutions. In this paper, we present the notion of combining the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS) and low-cost micro-electro-mechanical sensors (MEMS) inertial systems for reliable navigation. An adaptive multipath factor-based tightly-coupled (TC) GPS/BDS/INS integration algorithm is presented and the overall performance of the integrated system is illustrated. A twenty seven states TC GPS/BDS/INS model is adopted with an extended Kalman filter (EKF), which is carried out by directly fusing ambiguity fixed double-difference (DD) carrier phase measurements with the INS predicted pseudoranges to estimate the error states. The INS-aided integer ambiguity resolution (AR) strategy is developed by using a dynamic model, a two-step estimation procedure is applied with adaptively estimated covariance matrix to further improve the AR performance. A field vehicular test was carried out to demonstrate the positioning performance of the combined system. The results show the TC GPS/BDS/INS system significantly improves the single-epoch AR reliability as compared to that of GPS/BDS-only or single satellite navigation system integrated strategy, especially for high cut-off elevations. The AR performance is also significantly improved for the combined system with adaptive covariance matrix in the presence of low elevation multipath related to the GNSS-only case. A total of fifteen simulated outage tests also show that the time to relock of the GPS/BDS signals is shortened, which improves the system availability. The results also indicate that TC integration system achieves a few centimeters accuracy in positioning based on the comparison analysis and covariance analysis, even in harsh environments (e.g., in urban canyons), thus we can see the advantage of positioning at high cut-off elevations that the combined GPS/BDS brings.

59 citations

01 Jan 2005
TL;DR: In this thesis a terrain positioning method for underwater vehicles called the correlation method is presented and the well known problem with multiple terrain positions is discussed and the proposed method achieves this bound asymptotically.
Abstract: In this thesis a terrain positioning method for underwater vehicles called the correlation method is presented. Using the method the vehicle can determine its absolute position with the help of a s ...

58 citations

Patent
George J. Geier1
26 Jun 1998
TL;DR: In this article, the position of a vehicle is obtained by GPS receiver (30) data augmented with a low cost gyro (35) whereby the gyro accurately tracks the heading changes of the vehicle (in the absence of sufficient GPS information), and the GPS receiver includes an innovative algorithm for deriving speed information from Doppler measurements from just one or two GPS satellites.
Abstract: This invention extends GPS coverage in an automotive environment without requiring direct interfaces (50) to the vehicle's sensors in a unique and cost effective way. Since it removes all required vehicle interfaces (50) (except power), it produces a virtually portable navigation system with no installation requirements beyond that of the GPS receiver (30) itself. It also removes the necessary 'customization' of the navigation system to each particular vehicle. Fundamentally, the position of a vehicle is obtained by GPS receiver (30) data augmented with a low cost gyro (35) whereby the gyro (35) accurately tracks the heading changes of the vehicle (in the absence of sufficient GPS information), and the GPS receiver includes an innovative algorithm for deriving speed information from Doppler measurements from just one or two GPS satellites.

58 citations

01 Mar 2010
TL;DR: This presentation will focus on integration architectures, including loosely coupled, tightly coupled, and deeply integrated configurations, and the advantages and disadvantages of each level of integration will be listed.
Abstract: : An inertial navigation system (INS) exhibits relatively low noise from second to second, but tends to drift over time Typical aircraft inertial navigation errors grow at rates between 1 and 10 nmi/h (18 to 18 km/h) of operation In contrast, Global Positioning System (GPS) errors are relatively noisy from second to second, but exhibit no long-term drift Using both of these systems is superior to using either alone Integrating the information from each sensor results in a navigation system that operates like a drift-free INS There are further benefits to be gained depending on the level at which the information is combined This presentation will focus on integration architectures, including loosely coupled, tightly coupled, and deeply integrated configurations (Deep integration is trademarked by Draper Laboratory) The advantages and disadvantages of each level of integration will be listed Examples of current and future systems will be cited

58 citations

Journal ArticleDOI
TL;DR: A novel backtracking navigation scheme is employed that is able to reach the accuracy of within 0.3% of the distance travelled and can be launched without waiting for the completeness of the alignment.

58 citations


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