In Global Positioning System/Inertial Navigation System (GPS/INS) integrated navigation, the low sampling rate of GPS receivers reduces the observability of state variables. GPS observation expansion is proposed to enhance the GPS/INS integrated navigation system. During the process of observation expansion, the state variables are updated by the same GPS information repeatedly. According to uncertainty theory, the probability density function of GPS observation information is analysed to demonstrate the feasibility of GPS observation expansion. The formula and calculation method of an adaptive filter algorithm are presented to control the uncertainty of GPS observation expansion. Furthermore, an experiment is performed to validate the new algorithm. The results indicate that compared with GPS/INS integrated navigation without observation expansion, the enhanced GPS/INS integrated navigation system can improve the position, velocity and attitude accuracy significantly, especially while a land vehicle is in slow motion. At the same time, the adaptive filter factor is introduced into the new algorithm, which can control the uncertainty caused by the expanded GPS observation.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    An Enhanced GPS/INS Integrated Navigation System with GPS Observation Expansion



    Published in:

    Publication date :

    2016




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    55.86 Schiffsverkehr, Schifffahrt / 53.84 Ortungstechnik, Radartechnik / 42.89 Zoologie: Sonstiges / 55.54 Flugführung / 42.89 / 53.84 / 55.20 / 55.86 / 55.20 Straßenfahrzeugtechnik / 55.44 Schiffsführung / 55.54 / 55.44
    Local classification TIB:    275/5680/7035




    Navigation tunnel ship navigation characteristic observation method

    WANG XIN / XIANG YANG / ZHAN WEIJIE et al. | European Patent Office | 2023

    Free access


    Observation device for navigation

    ZHANG TING / QIU LIANG / SUN JIAN | European Patent Office | 2020

    Free access

    Observation data processing methods in SINS/multi-GNSS integrated navigation simulation

    Song, Dan / Xu, Chengdong / Zhang, Pengfei et al. | SAGE Publications | 2016