Paper Title:
Mended EKF-Based GPS/INS Tight Coupling Simulator
  Abstract

When Global Positioning System (GPS) blended with an Inertial Navigation System (INS), their performances would be remedied both. In this paper, a simulator with an INS module and a GPS receiver module on L1 C/A code signal in Earth-Centered Earth-Fixed frame is presented for testing tight coupling GPS/INS. With the mathematical models formulated to simulate GPS constellation and IMU measurements, both pseudorange and pseudorange rate observables are generated and applied in integrated filter. In addition, an EKF mending scheme is proposed to estimate the error states through expansion around the corrected states other than the preplanned states at each new update. A flight trajectory with multi-maneuver was implemented to test mended EKF-based GPS/INS tight coupling simulator. The results show that the simulator is effective and available.

  Info
Periodical
Advanced Materials Research (Volumes 271-273)
Edited by
Junqiao Xiong
Pages
609-615
DOI
10.4028/www.scientific.net/AMR.271-273.609
Citation
P. Ye, X. Q. Zhan, Y. H. Zhang, "Mended EKF-Based GPS/INS Tight Coupling Simulator", Advanced Materials Research, Vols. 271-273, pp. 609-615, 2011
Online since
July 2011
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$32.00
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