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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 single antenna/single receiver configuration is used to derive velocity and acceleration solutions from the GPS L1 carrier phase measurements, and the acceleration is further used in the attitude determination by combination with the three-dimensional acceleration sensed by the accelerometers.
Abstract: This paper describes a prototype system for attitude and heading determination. A L1-only GPS receiver is integrated with microelectromechanical gyroscopes, accelerometers and magnetometers. In contrast to a multi-antenna/multi-receiver GPS attitude determination system, this system uses a single antenna/single receiver configuration to derive standalone velocity and acceleration solutions from the GPS L1 carrier phase measurements. No reference station is needed to form differences of carrier phase measurements for the velocity and acceleration calculation. The GPSderived acceleration is further used in the attitude determination by combination with the three-dimension acceleration sensed by the accelerometers. The magnetometers sense the Earth’s magnetic field intensity, and can give the heading estimation regardless of the status of the host platform. To satisfy real-time applications, infinite impulse response differentiators instead of finite impulse response differentiators are used to derive the acceleration from GPS. The algorithms have been implemented and their efficiency demonstrated by experiments.

44 citations

Patent
12 Jan 2001
TL;DR: In this article, a GPS receiver with a fast time to first fix by comparing measured range rates for GPS satellites to GPS satellite velocities that are calculated from coarse GPS satellite orbital parameters.
Abstract: A GPS receiver having a fast time to first fix by comparing measured range rates for GPS satellites to GPS satellite velocities that are calculated from coarse GPS satellite orbital parameters. The coarse GPS satellite parameters are GPS almanac parameters or GPS ephemeris parameters that are older than the GPS-specified curve fit interval. The GPS receiver includes a satellite velocity calculator and a satellite line-of-sight calculator using the coarse GPS satellite orbital parameters previously stored in memory for calculating GPS satellite velocities and unit vectors to GPS satellites, respectively; a range rate measurer using GPS signal carrier measurements for determining range rates to GPS satellites; a user velocity calculator using the satellite velocities, unit vectors, and range rates for calculating a user velocity; and a user location integrator for integrating the user velocity from the last user location for a first location fix. Optionally, the user velocity calculator provides user direction information that can be used for initializing an inertial navigation device.

44 citations

Proceedings ArticleDOI
22 May 1995
TL;DR: In this article, an extended Kalman filter (EKF) was used to integrate an Inertial Navigation System (INS), GPS, Barometric Altimeter, Pseudolite and Radar Altimeter for aircraft precision approaches.
Abstract: Currently, the Department of Defense (DOD) and the commercial airline industry are utilizing the Instrument Landing System (ILS) during aircraft landings for precision approaches. The replacement system for the aging ILS was thought to be the Microwave Landing System (MLS). Instead, use of the Global Positioning System (GPS) is now thought to be a viable replacement for ILS precision approaches. The majority of current precision landing research has exploited "stand-alone" GPS receiver techniques. This paper instead explores the possibilities of using an extended Kalman filter (EKF) that integrates an Inertial Navigation System (INS), GPS, Barometric Altimeter, Pseudolite and Radar Altimeter for aircraft precision approaches. This paper shows that integrating the INS, GPS, Barometric Altimeter and Radar Altimeter meets Federal Aviation Administration (FAA) requirements for a Category I precision approach, and additionally integrating a single Pseudolite meets FAA requirements for a category II precision approach.

44 citations

Patent
21 Apr 1999
TL;DR: In this paper, a GPS receiver adjusts a local frequency for iteratively downconverting raw GPS signal samples to baseband GPS signal code data, combining a plurality of code epochs of the GPS signal data in chunks and super chunks for providing representative code epoch, and correlates the representative codes epochs to a replica code epoch for providing correlation times.
Abstract: A GPS receiver having a fast acquisition of a GPS signal having a low signal-to-noise ratio. The GPS receiver adjusts a local frequency for iteratively downconverting raw GPS signal samples to baseband GPS signal code data, combining a plurality of code epochs of the GPS signal code data in chunks and super chunks for providing representative code epochs, and correlates the representative code epochs to a replica code epoch for providing correlation times. A microcontroller processes the correlation times for providing the frequency corrections and computes a GPS pseudorange when the error in the corrected local frequency is less than a threshold. The GPS pseudoranges for several GPS satellites are transmitted back to the base for computing the GPS-based location of the GPS receiver.

44 citations

Proceedings ArticleDOI
27 Jun 2007
TL;DR: The analysis and experimental validation of a vision-aided inertial navigation algorithm for planetary landing applications employs tight integration of inertial and visual feature measurements to compute accurate estimates of the lander’s terrain-relative position, attitude, and velocity in real time.
Abstract: In this paper, we present the analysis and experimental validation of a vision-aided inertial navigation algorithm for planetary landing applications. The system employs tight integration of inertial and visual feature measurements to compute accurate estimates of the lander’s terrain-relative position, attitude, and velocity in real time. Two types of features are considered: mapped landmarks, i.e., features whose global 3D positions can be determined from a surface map, and opportunistic features, i.e., features that can be tracked in consecutive images, but whose 3D positions are not known. Both types of features are processed in an extended Kalman filter (EKF) estimator and are optimally fused with measurements from an inertial measurement unit (IMU). Results from a sounding rocket test, covering the dynamic profile of typical planetary landing scenarios, show estimation errors of magnitude 0.16 m/s in velocity and 6.4 m in position at touchdown. These results vastly improve current state of the art for non-vision based EDL navigation, and meet the requirements of future planetary exploration missions.

44 citations


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