The design and analysis of integrated navigation systems using real INS and GPS data

Author

Evans, Curtis D. ; Riggins, Robert

Author_Institution

Wright Lab., Wright-Patterson AFB, OH, USA

Volume

1

fYear

1995

fDate

22-26 May 1995

Firstpage

154

Abstract

An extended Kalman filter (EKF) is used to combine the information from a Global Positioning System (GPS) receiver and an Inertial Navigation System (INS) to provide a navigation solution. This research compares the results of an actual tightly-coupled GPS/INS integrated system with those results obtained in computer simulation. An analysis of various GPS models was studied to determine the best representation for a system truth model. Measurement rates and their effects upon position accuracies were studied. The results suggest that the computer simulations being used at the Air Force Institute of Technology (AFIT) produce better navigation solutions than are actually possible with real hardware

Keywords

Global Positioning System; Kalman filters; aerospace simulation; aircraft navigation; error analysis; feedforward; inertial navigation; knowledge engineering; recursive estimation; recursive filters; smoothing methods; state estimation; truth maintenance; GPS data; GPS models; computer simulation; error estimation; error models; extended Kalman filter; feedforward approach; filter models; inertial navigation system; integrated navigation systems; position accuracies; state models; system truth model; tightly-coupled GPS/INS integrated system; update frequency; Computer errors; Computer simulation; Estimation error; Filters; Global Positioning System; Hardware; Inertial navigation; Military computing; Nonlinear dynamical systems; Position measurement; Tiles;

fLanguage

English

Publisher

ieee

Conference_Titel

Aerospace and Electronics Conference, 1995. NAECON 1995., Proceedings of the IEEE 1995 National

Conference_Location

Dayton, OH

ISSN

0547-3578

Print_ISBN

0-7803-2666-0

Type

conf

DOI

10.1109/NAECON.1995.521929

Filename

521929