Abstract
In the Global Positioning System (GPS)/Inertial Navigation System (INS) deep integration system, the pure negative effect of the INS aiding is mainly the INS navigation error that is independent with the motion dynamics, which determine whether the INS aiding is worthy. This paper quantitatively assesses the negative effects of the inertial aiding information from different grades of INS by modeling the phase-locked loops (PLLs) based on the scalar-based GPS/INS deep integration system under stationary conditions. Results show that the largest maneuver-independent velocity error caused by the error sources of micro-electro-mechanical System (MEMS) inertial measurement unit (IMU) is less than 0.1 m/s, and less than 0.05 m/s for the case of tactical IMU during the typical GPS update interval (i.e., 1 s). The consequent carrier phase tracking error in the typical tracking loop is below 1.2 degrees for MEMS IMU case and 0.8 degrees for the tactical IMU case, which are much less than the receiver inherent errors. Conclusions can be reached that even the low-end MEMS IMU has the ability of aiding the receiver signal tracking. The tactical grade IMU can provide higher quality aiding information and has potential for the open loop tracking of GPS.
Highlights
The motion of the vehicle can be measured by a global positioning system (GPS) or inertial navigation system (INS)
The error components driven by white-noise are too complicated to get their time domain expression by the inverse Laplace transform, and Monte-Carlo simulations are used to analyze their time domain response based on the transfer function provided in Equation (11)
Netherlands) [28] and tactical inertial measurement unit (IMU) (SPAN-FSAS, Novatel, Calgary, AB, Canada) [29] specifications of the error sources are listed in Table 1 and the sources of the parameters are described as below: (a) The parameters are obtained based on real Global Positioning System (GPS)/Inertial Navigation System (INS) data processing and the inertial sensors specifications; and the GPS measurements are single point positioning results; (b) The bias constants are the statistics of the standard deviation of the bias estimation right after the GPS update; (c) The initial errors are the statistics of the navigation errors right after the GPS update; (d) The other parameters are set according to the real data process parameters
Summary
The motion of the vehicle can be measured by a global positioning system (GPS) or inertial navigation system (INS). In a deeply coupled GPS/INS integrated system, the impact of the receiver motion dynamics to the tracking loops can be mitigated by the inertial aiding information. The GPS/INS deep integration has the advantage that only the errors in the INS solution need to be tracked, as opposed to the absolute dynamics [2]. The scalar-based architecture refers to the individual tracking loops aided by INS [1]. The updated INS information is given as feedback to correct the INS mechanization errors and inertial sensor errors
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