Title :
Parametric study of loosely coupled INS/GNSS integrity performance
Author :
Grosch, Anja ; Belabbas, Boubeker
Author_Institution :
Inst. of Commun. & Navig., German Aerosp. Center, Oberpfaffenhofen, Germany
Abstract :
Low-cost inertial sensors have been in the focus of ongoing research since they enable a low priced and low complex way to increase the robustness and reliability of navigation systems, especially GNSS. In this paper, we analyze a loosely coupled INS/GNSS including evaluation of the inertial error propagation and robustness of the corresponding navigation integrity concept with respect to the inertial system parameters. Moreover, we analyze the system integrity performance in terms of overall system protection level dependent on the inertial sensor error model. We discuss and compare the expected performance of using either typical high-end, middle-grad, low-cost or a network of redundant low-cost IMUs in terms of integrity and GNSS coasting time. We show that a network of four independent and identical distributed and orthogonally mounted low-cost sensors boosts the integrity performance significantly and even outperforms the one of a higher grade sensor. Additionally we discuss the trade-off between inertial networks and increased system complexity with respect to integrity performance in this paper.
Keywords :
inertial navigation; reliability; satellite navigation; inertial error propagation; inertial sensor error model; inertial system parameters; loosely coupled INS/GNSS integrity performance; low-cost inertial sensors; navigation integrity; navigation systems; orthogonally mounted low-cost sensors; overall system protection level; reliability; system complexity; Global Navigation Satellite Systems; Redundancy;
Conference_Titel :
Position Location and Navigation Symposium (PLANS), 2012 IEEE/ION
Conference_Location :
Myrtle Beach, SC
Print_ISBN :
978-1-4673-0385-9
DOI :
10.1109/PLANS.2012.6236885