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A deeply-coupled Global Positioning System (GPS)/ Inertial Navigation System (INS) integration algorithm is proposed in this paper. The mathematical system process and observation models are provided. Due to the nonlinearity of the system models, an Extended Kalman Filter (EKF) is employed, which uses quaternions as the representation of attitude. The integrated algorithm is tested using the IFEN...
The integration of inertial sensors is a widely-adopted method for covering GPS outages. However, the position accuracy in vertical direction is often challenged in comparison with the one in the horizontal plane. This paper explores the possibility of using MEMS barometer as an augmentation in the GPS/INS integration in land application. A prototype system, composed of a commercial GPS receiver with...
In this paper, two quaternion-based nonlinear filtering methods are applied on the processing of measurements from the low-cost Micro-electromechanical Systems (MEMS) based Inertial Navigation system (INS) and Global Positioning System (GPS). One approach employs an Extended Kalman filter (EKF) propagating the quaternion vector using conventional vector addition operation. However, due to the fact...
In this paper, we applied an eight-state Kalman filter on a software defined GPS receiver by replacing conventional tracking with the feedback solution from the navigation filter to control the local code and carrier generators. The code phase and carrier frequency outputs from the delay lock loop (DLL) and frequency lock loop (FLL) discriminators are employed as measurements to update the filter...
In this paper, we describe an attitude estimation algorithm based on the direction cosine matrix (DCM) attitude representation and analyze its performance. This algorithm is appropriate for the implementation of a low-cost attitude and heading reference system (AHRS) which is composed of micro electrical mechanical system (MEMS) inertial measurement unit (IMU) and magnetometer triad. To reduce the...
This paper presents a method on fine Doppler frequency acquisition in software GPS receiver, which is implemented in Matlab/Simulink. Compared with the existing FFT-based approach, it speeds up the handover from acquisition to tracking stages, and it requires much less computational burden. A field experiment is made to show the positioning performance of the software GPS receiver, which verifies...
For land-based navigation, Euler angles are often used in INS/GPS integrated navigation systems. However, the trigonometric operations required in the updates and forming of the rotation matrices for transforming the INS measurements from the body frame to the navigation frame turns the system model to be highly nonlinear. Besides, using low-cost MEMS-based IMUs, the gyroscope bias errors must be...
The performance of the GPS based vehicle navigation will be degraded in the attenuated signal environments and reflected conditions. In this paper two types of sensor fusions are proposed to improve the reliability of GPS navigation in such environments: (1) the integration of GPS with other GNSS, including GLONASS and GALILEO, and (2) the integration of GPS with low-cost INS. Numerical results demonstrate...
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