Inertial Navigation System Aiding with Orbcomm LEO Satellite Doppler Measurements

A tightly-coupled inertial navigation system aided by Orbcomm low Earth orbit (LEO) satellite signals is developed. The developed navigation framework enables a navigating vehicle to aid its inertial navigation system (INS) with Doppler measurements drawn from Orbcomm LEO satellite signals in a tightly coupled fashion when global navigation satellite system (GNSS) signals become unusable. Experimental results are presented showing an unmanned aerial vehicle (UAV) aiding its onboard INS with Doppler measurements drawn from two Orbcomm LEO satellites, reducing the final position error from 31.7 m to 8.8 m after 30 seconds of GNSS unavailability.

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