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Land Vehicle Navigation with the Integration of GPS and Reduced INS: Performance Improvement with Velocity Aiding

Published online by Cambridge University Press:  01 December 2009

Songlai Han  and
Jinling Wang
Songlai Han*
Affiliation:
(National University of Defense Technology, China) (The University of New South Wales, Australia)
Jinling Wang
Affiliation:
(The University of New South Wales, Australia)
*
(Email: songlai.han@student.unsw.edu.au)
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Abstract

The movement of a land vehicle is constrained because the vehicle always remains on the Earth's surface and only experiences small pitch and roll angles. So the GPS/INS integrated system for land vehicle navigation could be reconfigured to be the integration of GPS and reduced INS to cut down the costs. In a reduced INS, the vertical accelerometer and two horizontal gyros could be omitted from the system. But both theoretical analysis and experimental results show that this configuration may result in the divergence of height solution and large velocity errors. To improve the system performances, precise velocity derived from GPS carrier phase measurements, together with the GPS single point positioning solution, is used to aid the reduced INS. Field test results have demonstrated that first, the aiding from GPS precise velocity overcomes the divergence problem of the integrated height solutions and improves the integrated velocity and secondly the proposed novel integration scheme could achieve comparable navigation accuracy with that from the GPS and full INS integrated system.

Keywords

GPSMEMS INSSensor IntegrationVelocity Aiding
Type
Research Article
Information
The Journal of Navigation , Volume 63 , Issue 1 , January 2010 , pp. 153 - 166
Copyright
Copyright © The Royal Institute of Navigation 2009

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References

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