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Performance Improvement of Time-Differenced Carrier Phase Measurement-Based Integrated GPS/INS Considering Noise Correlation

School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University, Seoul 08826, Korea
Korea Aerospace Research Institute (KARI), Daejeon 34133, Korea
Ecole Nationale de l’Aviation Civile (ENAC), 31400 Toulouse, France
Author to whom correspondence should be addressed.
Sensors 2019, 19(14), 3084;
Received: 20 June 2019 / Revised: 10 July 2019 / Accepted: 12 July 2019 / Published: 12 July 2019
(This article belongs to the Collection Positioning and Navigation)
PDF [7194 KB, uploaded 15 July 2019]


In this study, we combined a time-differenced carrier phase (TDCP)-based global positioning system (GPS) with an inertial navigation system (INS) to form an integrated system that appropriately considers noise correlation. The TDCP-based navigation system can determine positions precisely based on high-quality carrier phase measurements without difficulty resolving integer ambiguity. Because the TDCP system contains current and previous information that violate the format of the conventional Kalman filter, a delayed state filter that considers the correlation between process and measurement noise is utilized to improve the accuracy and reliability of the TDCP-based GPS/INS. The results of a dynamic simulation and an experiment conducted to verify the efficacy of the proposed system indicate that it can achieve performance improvements of up to 70% and 60%, respectively, compared to the conventional algorithm. View Full-Text
Keywords: GPS/INS; time-differenced carrier-phase; noise correlation GPS/INS; time-differenced carrier-phase; noise correlation

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Kim, J.; Kim, Y.; Song, J.; Kim, D.; Park, M.; Kee, C. Performance Improvement of Time-Differenced Carrier Phase Measurement-Based Integrated GPS/INS Considering Noise Correlation. Sensors 2019, 19, 3084.

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