01373715

Component

The loosely coupled integration approach is commonly used in INS/GPS fusion. It provides high level of system robustness and implementation flexibility. The main disadvantage of the loosely coupled approach lies in the requirement to have at least four GPS satellites in view in order to form a GPS position/velocity solution. Recently, a modified loosely coupled approach to circumvent this difficulty in land navigation scenarios was proposed. In the modified approach, INS-based fictitious GPS satellites are created to bring the total set of available satellites to at least four thereby enabling a GPS solution. In this research, we propose creating fictitious GPS satellites based mainly on the odometer readings, thereby removing the dependency of the fictitious GPS satellites on the standalone INS estimates. Simulation results show that the proposed method provides improved accuracy compared to the standalone INS and the INS-based modified loosely coupled approach.

This paper was sponsored by TRB committee AFB80 Geospatial Data Acquisition Technologies in Design and Construction

01362476

12-3164

English

14p

2012

Transportation Research Board 91st Annual Meeting

Digital/other

Figures; References; Tables

Data fusion; Global Positioning System; Inertial navigation systems; Methodology; Odometers; Simulation

Data and Information Technology; Highways; I70: Traffic and Transport

Transportation Research Board Annual Meeting 2012 Paper #12-3164

TRIS, TRB

Feb 8 2012 5:14PM