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- W4381206 abstract "To maintain signal continuity and vehicle attitude in criticalreal-time systems, multi-antenna diversity reception aboardthe vehicle is essential. Important applications are: a) shiprelativeDGPS reference, b) space structure attitude determinationand relative positioning, and c) earth moving equipmentguidance and control. For antenna diversity receptionprocessing, including integrity monitoring, navigation-frameantenna offsets substantially more accurate than currentepochdouble-difference solution values are needed. Drivinguncertainties are body flexure drifts and inertial measurement biases and drifts. As vehicle antenna-antenna baselinesincrease, it becomes necessary to explicitly incorporate flexuresin the system model.In this paper we address the reception problem in the presenceof vehicle flexure, for multi-antenna multi-inertial sensornetworks. Carrier phase observables are available at eachantenna location, as are delta-theta and delta-velocity observationsfrom each of the IMU sensor sites. Each IMU sensoris modeled with a standard 15-state model, which includesgyro and accelerometer biases and noise processes. IMU andantenna body frame location offsets are approximated withdisplacement and velocity drift processes, in three axes. Thepaper establishes the filter structure and related covarianceformulation, including detailed development of system errorstate dynamics, linearized coupling of nominal dynamics intothe system state transition matrix, and coupling of error statesinto the observables. The examples discussed are limited tosingle and dual IMU systems. With the covariance formulationin place, the paper then explores system performance.The performance metric is relative antenna positioning errorin the navigation frame, normalized by single-epoch positioninguncertainty. Performance is explored as function of singleand dual IMU setup, IMU quality, antenna spacing, andflexure process spatial and temporal correlation parameters." @default.
- W4381206 created "2016-06-24" @default.
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- W4381206 date "2002-09-27" @default.
- W4381206 modified "2023-09-23" @default.
- W4381206 title "Multi-Antenna GPS Reception with Vehicle Flexure" @default.
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