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Sensors 2016, 16(4), 519; doi:10.3390/s16040519

Sample-Wise Aiding in GPS/INS Ultra-Tight Integration for High-Dynamic, High-Precision Tracking

School of Electronic and Information Engineering, Beihang University (BUAA), Beijing 100191, China
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Academic Editor: Jörg F. Wagner
Received: 7 March 2016 / Revised: 3 April 2016 / Accepted: 6 April 2016 / Published: 11 April 2016
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
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Abstract

By aiding GPS receiver tracking loops with INS estimates of signal dynamics, GPS/INS ultra-tight coupling can improve the navigation performance in challenging environments. Traditionally the INS data are injected into the loops once every loop update interval, which limits the levels of dynamics accommodated. This paper presents a sample-wise aiding method, which interpolates the aiding Doppler into each digital sample of the local signal to further eliminate the dynamic errors. The relationship between the tracking error and the aiding rate is derived analytically. Moreover, the effects of sample-wise aiding using linear and spline interpolations are simulated and compared with traditional aiding under different INS data update rates. Finally, extensive tests based on a digital IF (intermediate frequency) signal simulator and a software receiver validate the theoretical equations and demonstrate that the dynamic stress error can be significantly reduced by sample-wise aiding. View Full-Text
Keywords: ultra-tight coupling; GPS/INS integration; Doppler aiding; high dynamics; tracking loop ultra-tight coupling; GPS/INS integration; Doppler aiding; high dynamics; tracking loop
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Kou, Y.; Zhang, H. Sample-Wise Aiding in GPS/INS Ultra-Tight Integration for High-Dynamic, High-Precision Tracking. Sensors 2016, 16, 519.

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