Differential carrier phase GPS-aided INS for automotive applications

This article describes experimental results for a real-time, carrier phase, differential Global Positioning System (GPS) aided inertial navigation system (INS). The implementation is the result of a study to analyze the capabilities of such a system relative to the requirements of advanced vehicle control and safety systems (AVCSS) for intelligent transportation systems. Such navigation systems have many application possibilities (e.g., aviation and precision flight, automated mining, precision farming, dredging). The implementation achieves 100 Hz vehicle state estimates with position accuracy at the centimeter level