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The Performance Analysis of a Real-Time Integrated INS/GPS Vehicle Navigation System with Abnormal GPS Measurement Elimination

Department of Geomatics, National Cheng Kung University, 1 University Road, Tainan 701, Taiwan
Author to whom correspondence should be addressed.
Sensors 2013, 13(8), 10599-10622;
Received: 29 June 2013 / Revised: 1 August 2013 / Accepted: 12 August 2013 / Published: 15 August 2013
(This article belongs to the Special Issue Modeling, Testing and Reliability Issues in MEMS Engineering 2011)
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The integration of an Inertial Navigation System (INS) and the Global Positioning System (GPS) is common in mobile mapping and navigation applications to seamlessly determine the position, velocity, and orientation of the mobile platform. In most INS/GPS integrated architectures, the GPS is considered to be an accurate reference with which to correct for the systematic errors of the inertial sensors, which are composed of biases, scale factors and drift. However, the GPS receiver may produce abnormal pseudo-range errors mainly caused by ionospheric delay, tropospheric delay and the multipath effect. These errors degrade the overall position accuracy of an integrated system that uses conventional INS/GPS integration strategies such as loosely coupled (LC) and tightly coupled (TC) schemes. Conventional tightly coupled INS/GPS integration schemes apply the Klobuchar model and the Hopfield model to reduce pseudo-range delays caused by ionospheric delay and tropospheric delay, respectively, but do not address the multipath problem. However, the multipath effect (from reflected GPS signals) affects the position error far more significantly in a consumer-grade GPS receiver than in an expensive, geodetic-grade GPS receiver. To avoid this problem, a new integrated INS/GPS architecture is proposed. The proposed method is described and applied in a real-time integrated system with two integration strategies, namely, loosely coupled and tightly coupled schemes, respectively. To verify the effectiveness of the proposed method, field tests with various scenarios are conducted and the results are compared with a reliable reference system. View Full-Text
Keywords: INS; GPS; integration; abnormal measurement INS; GPS; integration; abnormal measurement

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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Chiang, K.-W.; Duong, T.T.; Liao, J.-K. The Performance Analysis of a Real-Time Integrated INS/GPS Vehicle Navigation System with Abnormal GPS Measurement Elimination. Sensors 2013, 13, 10599-10622.

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