Development of an integrated GPS/INS for high dynamic navigation

Pao Yue-kong Library Electronic Theses Database

Development of an integrated GPS/INS for high dynamic navigation


Author: He, Xiufeng
Title: Development of an integrated GPS/INS for high dynamic navigation
Degree: Ph.D.
Year: 1998
Subject: Global Positioning System
Inertial navigation systems
Aids to air navigation
Navigation (Aeronautics)
Inertial navigation (Aeronautics)
Hong Kong Polytechnic University -- Dissertations
Department: Dept. of Land Surveying and Geo-Informatics
Pages: xi, 194 leaves : ill. ; 30 cm
Language: English
InnoPac Record:
Abstract: The combination of a C/A code single frequency Global Positioning System (GPS) receiver and a low-cost inertial measurement unit (IMU) provides an attractive navigation solution for use in land and marine vehicles, aircraft, as well as military weapons. In this thesis, the integration of these two sensor systems is investigated for a high-dynamic aircraft applications. Basic aspects of both GPS and inertial navigation system (INS) are described. Both error models and observation equations are established, and several integrated approaches are proposed. In high dynamics applications, the GPS receiver tracking loop may lose lock to the GPS signal because of an aircraft performing manoeuvres, so the approach of a GPS receiver aided by inertial velocity is developed to improve GPS tracking performance. The Kalman filter based on UD factorization is used to estimate the error states of an integrated GPS/INS. Since a high dynamic aircraft requires a high update rate, a faster technique is proposed to improve the computation time and a model reduction method is developed to reduce the computational efforts. In an integrated GPS/INS, the variances of the dynamics noise and measurement noise are not known accurately, and the parameters in the dynamic model and observation equations may be uncertain due to changes in environmental conditions. The extended interval Kalman filter (EIKF) is proposed for an integrated GPS/INS with uncertain model parameters, and it can provide upper and lower bounds of navigation errors. Moreover, the minimax robust Kalman filter is developed for an integrated GPS/INS with uncertain noise, which performs better than the standard Kalman filter. Using both the external velocity and magnetic heading correcting schemes, a strapdown attitude and heading reference system (SAHRS) with the accuracies of 0.5 degrees in the roll and pitch and 0.4 degrees in heading, is developed. For the prototype of an integrated GPS/IMU, the attitude accuracy was less than 0.22 degrees and the heading accuracy was less than 0.4 degrees. The horizontal positioning accuracies without DGPS were 48.2 m (1σ). The horizontal positioning accuracies with DGPS were 7.2 m (1σ). This integrated GPS/IMU prototype provides a continuous navigation solution during GPS signal loss and reacquisition.

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