The integration of GPS and INS observations has been extensively investigated in recent years. Current systems are commonly based on the integration of INS data and the double differenced GPS measurements from two GPS receivers in which one is used as a reference receiver set up at a precisely surveyed control point and another is as the rover receiver whose position is to be determined. The requirement of a base receiver is to eliminate the significant GPS measurement errors related to GPS satellites, signal transmission and GPS receivers by double differencing measurements from the two receivers. With the advent of precise satellite orbit and clock products, the un-differenced GPS measurements from a single GPS receiver can be applied to output accurate position solutions at centimetre level using a positioning technology known as precise point positioning (PPP). This then opens an opportunity for the integration of un-differenced GPS measurements with INS for precise position and attitude determination. In this paper, a tightly coupled un-differenced GPS/INS system will be developed and described. The mathematical models for both INS and un-differenced GPS measurements will be introduced. The methods for mitigating GPS measurement errors will also be presented. A field test has been conducted and the results indicate that the integration of un-differenced GPS and INS observations can provide position and velocity solutions comparable with current double difference GPS/INS integration systems.
[1]
A.H. Haddad,et al.
Applied optimal estimation
,
1976,
Proceedings of the IEEE.
[2]
T. Herring,et al.
GPS Meteorology: Remote Sensing of Atmospheric Water Vapor Using the Global Positioning System
,
1992
.
[3]
Pierre Héroux,et al.
Real-Time GPS Correction Service of the Canadian Active Control System
,
1996
.
[4]
Bruno M. Scherzinger,et al.
Precise Robust Positioning with Inertial/GPS RTK
,
2000
.
[5]
J. Kouba,et al.
GPS Precise Point Positioning Using IGS Orbit Products
,
2001
.
[6]
Pierre Héroux,et al.
Precise Point Positioning Using IGS Orbit and Clock Products
,
2001,
GPS Solutions.
[7]
Yang Gao,et al.
A NEW METHOD FOR CARRIER-PHASE–BASED PRECISE POINT POSITIONING
,
2002
.
[8]
Mark G. Petovello,et al.
Benefits of Using a Tactical-Grade IMU for High-Accuracy Positioning
,
2004
.
[9]
Yang Gao,et al.
Performance Analysis of Precise Point Positioning Using Rea-Time Orbit and Clock Products
,
2004
.
[10]
Yufeng Zhang,et al.
Performance Analysis of a Tightly Coupled Kalman Filter for the Integration of Un-differenced GPS and Inertial Data
,
2005
.