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- W2601603921 abstract "A system architecture has been developed thataccomplishes tightly-coupled GPS/INSintegration, whileat the same time simplifying the task of bringing compo-nents together and verifying their integration. Thesimplified integration can be expected to make thesystems affordable and available to a wider range ofusers than is currently possible. The objective of thework reported here was to prove out the integrationconcept, and to validate the major hardware and soft-ware components, by demonstrating an actual prototype.An Allen Osborne Associates, Inc. (AOA)TurboRogueGPS receiver was optimally integrated with an InertialScience, Inc. (ISI) inertial navigation system using theintegration concept and GPS/INS integration softwaredeveloped by Don Knight. GPS/INS van testing wasconducted, resulting in a verification of functionality andaccuracy of the prototype. Test methods and results aredescribed. Akey aspect of the prototype verification wasthe availability of a full GPS constellation. In two hoursof van testing, with the van in motion, with an average of6.7 satellites in track, and with an atomic clock in thevan, the actual, measured differential delta rangesconverged on a solution for van speed and heading withan RMS accuracy of 2 mm/set, or about 0.004 mph (fourone thousandths of a mile per hour), The quantity andquality of GPS data enabled rapid calibration andalignment of the INS, using a Kalman fdter, and provid-ed an extremely accurate truth reference. That, in turn,allowed integration testing to be completed quickly, andit avoided having to resort to some other system, such asa laser ranging system, to serve as truth reference. Whathas not beenaccomplished at this time is demonstrationof the whole system executing in real-time, and the use ofINS-derived estimates of GPS Doppler in order toimprove the receiver’s noise rejection, and to improvethe reacquisition of signals that have been interrupted.The significance of this work is that tightly-coupledGPS/INS systems may becomemuch easier to build, andthat, in turn, would benefit both users and suppliers byexpanding thenumber and diversity of optimal GPS/INSsystems in use." @default.
- W2601603921 created "2017-04-07" @default.
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- W2601603921 date "1993-09-24" @default.
- W2601603921 modified "2023-09-26" @default.
- W2601603921 title "Demonstration of a New, Tightly-Coupled GPS/INS" @default.
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