Next Article in Journal
Asymmetric Directional Multicast for Capillary Machine-to-Machine Using mmWave Communications
Next Article in Special Issue
Optimal Design of a Center Support Quadruple Mass Gyroscope (CSQMG)
Previous Article in Journal
Photometric Calibration and Image Stitching for a Large Field of View Multi-Camera System
Previous Article in Special Issue
Mechanical Coupling Error Suppression Technology for an Improved Decoupled Dual-Mass Micro-Gyroscope
Article Menu

Export Article

Open AccessArticle
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
Author to whom correspondence should be addressed.
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)
View Full-Text   |   Download PDF [3549 KB, uploaded 11 April 2016]   |  


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

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Kou, Y.; Zhang, H. Sample-Wise Aiding in GPS/INS Ultra-Tight Integration for High-Dynamic, High-Precision Tracking. Sensors 2016, 16, 519.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top