The performance analysis of a real-time integrated INS/GPS vehicle navigation system with abnormal GPS measurement elimination

Kai-Wei Chiang, Thanh Trung Duong, Jhen Kai Liao

Research output: Contribution to journalArticle

53 Citations (Scopus)

Abstract

The integration of an Inertial Navigation System (INS) and the Global Positioning System (GPS) is common in mobile mapping and navigation applications to seamlessly determine the position, velocity, and orientation of the mobile platform. In most INS/GPS integrated architectures, the GPS is considered to be an accurate reference with which to correct for the systematic errors of the inertial sensors, which are composed of biases, scale factors and drift. However, the GPS receiver may produce abnormal pseudo-range errors mainly caused by ionospheric delay, tropospheric delay and the multipath effect. These errors degrade the overall position accuracy of an integrated system that uses conventional INS/GPS integration strategies such as loosely coupled (LC) and tightly coupled (TC) schemes. Conventional tightly coupled INS/GPS integration schemes apply the Klobuchar model and the Hopfield model to reduce pseudo-range delays caused by ionospheric delay and tropospheric delay, respectively, but do not address the multipath problem. However, the multipath effect (from reflected GPS signals) affects the position error far more significantly in a consumer-grade GPS receiver than in an expensive, geodetic-grade GPS receiver. To avoid this problem, a new integrated INS/GPS architecture is proposed. The proposed method is described and applied in a real-time integrated system with two integration strategies, namely, loosely coupled and tightly coupled schemes, respectively. To verify the effectiveness of the proposed method, field tests with various scenarios are conducted and the results are compared with a reliable reference system.

Original languageEnglish
Pages (from-to)10599-10622
Number of pages24
JournalSensors (Switzerland)
Volume13
Issue number8
DOIs
Publication statusPublished - 2013 Jan 1

Fingerprint

inertial navigation
Geographic Information Systems
Inertial navigation systems
Global Positioning System
Navigation systems
navigation
Global positioning system
elimination
vehicles
Systems Integration
systems integration
receivers
ionospherics
grade
range errors
position errors
reference systems
Systematic errors
field tests
Computer Systems

All Science Journal Classification (ASJC) codes

  • Analytical Chemistry
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Electrical and Electronic Engineering

Cite this

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The performance analysis of a real-time integrated INS/GPS vehicle navigation system with abnormal GPS measurement elimination. / Chiang, Kai-Wei; Duong, Thanh Trung; Liao, Jhen Kai.

In: Sensors (Switzerland), Vol. 13, No. 8, 01.01.2013, p. 10599-10622.

Research output: Contribution to journalArticle

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