Abstract
The Global Positioning System (GPS) provides an accurate navigation solution in the open sky. However, in some environments such as urban areas or in the presence of signal jamming, GPS signals cannot be easily tracked since they could be harshly attenuated or entirely blocked. This often requires the GPS receiver to go into a signal re-acquisition phase for the corresponding satellite. To avoid the intensive computations necessary for the signal re-lock in a GPS receiver, a robust signal-tracking mechanism that can hold and/or rapidly re-lock on the signals and keep track of their dynamics becomes a necessity. This paper augments a vector-based GPS signal tracking system with a Reduced Inertial Sensor System (RISS) to produce a new ultra-tight GPS/INS integrated system that enhances receivers’ tracking robustness and sensitivity in challenging navigation environments. The introduced system is simple, efficient, reliable, yet inexpensive. To challenge the proposed method with real jamming conditions, real experiment work was conducted inside the Anechoic Chamber room at the Royal Military College of Canada (RMC). The Spirent GSS6700 signal simulator was used to generate GPS signals, and an INS Simulator is used for simulating the inertial measurement unit (IMU) to generate the corresponding trajectory raw data. The NEAT jammer, by NovAtel, was used to generate real jamming signals. Results show a good performance of the proposed method under real signal jamming conditions.
Highlights
Global Positioning System (GPS) provides navigational solutions with good accuracy in open sky environments
The signal tracking process is the source of the receiver measurements; it has a direct effect on the accuracy of the obtained navigation solution
In [16] researchers propose a strategy of an ultra-tight GPS/INS integration based on an unscented Kalman filter (UKF)
Summary
GPS provides navigational solutions with good accuracy in open sky environments. One vital application that uses this service is land vehicles, in which navigation systems are embedded in passenger cars, farming vehicles, police cars, fire trucks, and others. Research in [15] proposed a GPS/INS integrated based on what is called multi-channel integration Kalman filter. In [16] researchers propose a strategy of an ultra-tight GPS/INS integration based on an unscented Kalman filter (UKF). The GPS/INS ultra-tight integration system exploit the system based on an unscented Kalman filter (UKF). Research in [20] presents a state estimation technique for pre-filter signal states estimate for the ultra-tight GPS/INS navigation. The gyroscope is aligned with the vertical axes of the vehicle frame; while, the two accelerometers are mounted to the forward and transversal directions, respectively This simple configuration is popular due to the fact that it provides superior performance over traditional 3D IMU systems at a lower cost [28]
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