Performance comparison of single and dual frequency closely coupled GPS/INS relative positioning systems

Single and dual frequency closely coupled GPS/INS relative positioning systems have been developed for use in automated ground vehicle convoys. The accuracy of the GPS carrier phase measurement is exploited to produce a high precision relative position vector between vehicles. The inertial systems of the lead vehicle and following vehicle are aligned using closely coupled GPS/INS filters on each vehicle and are used to output a high rate solution.