Information fusion in an hybrid GPS multi-frequencies/dead-reckoning navigation system

Abstract

The works presented in this paper deals with the design of a navigation system which is based on the fusion of information coming from a multi-frequencies GPS receiver, an odometer and a gyroscope. We present the design of a tracking fusion filter for the future multi-carrier G.P.S signal. This filter is an hybrid GPS/dead-reckoning fusion system that overcome the problem of reduced satellite visibility. In this system the estimation of the distance and speed between the satellite and the vehicle is realized with a Kalman track fusion algorithm. This algorithm is inspired from the modified track-to-track algorithm, the observations of pseudo distances are merged with a measurement fusion algorithm and the measurements of distances and speeds are fused with a state vector fusion Kalman filter. The simulation results obtained on synthetic data show the feasibility of the method and the contribution of the fusion over the accuracy and continuity of the localization.