Tightly coupled GPS/INS integration for missile applications

Wendel, Jan; Trommer, Gert F.

doi:10.1016/j.ast.2004.07.003

Cited by 94 publications

(52 citation statements)

References 6 publications

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“…Wendel and Trommer (2004) and Wendel et al (2006) discussed the tightly coupled integration of the time-differenced carrier phase and INS. However, the derivation of the measurement model in Wendel and Trommer (2004) and Wendel et al (2006), which is the essential part of the integration, was wrong.…”

Section: Time-differenced Carrier Phases and Their Applications In Gpmentioning

confidence: 99%

Integrated GPS/INS navigation system with dual-rate Kalman Filter

Han

Wang

2011

GPS Solut

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A dual-rate Kalman Filter (DRKF) has been developed to integrate the time-differenced GPS carrier phases and the GPS pseudoranges with INS measurements. The time-differenced GPS carrier phases, which have low noise and millimeter measurement precision, are integrated with INS measurements using a Kalman Filter with high update rates to improve the performance of the integrated system. Since the time-differenced GPS carrier phases are only relative measurements, when integrated with INS, the position error of the integrated system will accumulate over time. Therefore, the GPS pseudoranges are also incorporated into the integrated system using a Kalman Filter with a low update rate to control the accumulation of system errors. Experimental tests have shown that this design, compared to a conventional design using a single Kalman Filter, reduces the coasting error by two-thirds for a medium coasting time of 30 s, and the position, velocity, and attitude errors by at least one-half for a 45-min field navigation experiment.

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Section: Time-differenced Carrier Phases and Their Applications In Gpmentioning

confidence: 99%

Integrated GPS/INS navigation system with dual-rate Kalman Filter

Han

Wang

2011

GPS Solut

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“…In the previous work, both loosely-coupled and tightlycoupled architectures have been investigated [3] [4]. When provided clear open sky-access and on vehicles with docile dynamics, both approaches have shown the similar estimation performance.…”

Section: Introductionmentioning

confidence: 99%

MIMU/GNSS Tightly-Coupled Covariance Shaping Adaptive Filtering Method for UAV

Mu¹,

Zhang²,

Cui³

et al. 2017

Proceedings of the 2017 2nd International Conference on Automation, Mechanical Control and Computational Engineering (AMCCE 201

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Abstract.A covariance shaping adaptive Kalman filtering method is newly presented to improve the positioning accuracy of MIMU/GNSS tightly-coupled integrated navigation system for UAV. A dual channel parallel filter scheme with the adaptive filter is proposed to improve the real-time performance and make the tightly-coupled integrated navigation system perform better in complex and dynamic environments. The gain of the covariance shaping adaptive filter is self-tuned by changing covariance weighting factor, which is calculated by minimizing the cost function of the Frobenius norm. Hardware-in-the-loop simulation results indicate that the positioning accuracy of the adaptive Kalman filter is increased by 32.6% against the standard one.

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“…The levels of performance achieved depend on the grade of the INS and the GPS satellites visibility and are driven generally by the required accuracy or missile-target miss distance. Coupling becomes necessary on missile systems and projectiles in order to mitigate the effects of extreme dynamics, rapidly changing GPS visibility and potential jamming [26,27]. Based on different data fusion strategies, GPS/INS integrated systems can be classified into three types: loosely coupled GPS/INS, tightly coupled GPS/INS, and ultratight GPS/INS integration [28].…”

Section: Ins-assisted Ffpll Designmentioning

confidence: 99%

“…At epoch 30, GPS time is extracted under proper signal tracking using the original FFPLL, and synchronization is performed with INS aiding data to switch from the original FFPLL to FFPLL + INS. The Kalman filter used here is based on the model described in [26][27][28] and uses discriminator outputs as measurement updates. It is also modified to accept INS Doppler aiding for a fair comparison with the INS-assisted FFPLL.…”

Section: Simulator Testsmentioning

confidence: 99%

INS Assisted Fuzzy Tracking Loop for GPS-Guided Missiles and Vehicular Applications

Kamel

Renaudin

Nielsen

2013

International Journal of Navigation and Observation

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Autonomous Navigation Systems used in missiles and other high dynamic platforms are mostly dependent on the Global Positioning System (GPS). GPS users face limitations in terms of missile high dynamics and signal interference. Receiver's tracking loops bandwidth requirements to avoid these problems are conflicting. The paper presents a novel signal frequency and phase tracking algorithm for very high dynamic conditions, which mitigates the conflicting choice of bandwidths and reduces tracking loop measurement noise. It exploits the flexibility of fuzzy control systems for directly generating the required Numerically Controlled Oscillator (NCO) tuning frequency using phase and frequency discriminators information and is labeled Fuzzy Frequency Phase Lock Loop (FFPLL). Because Fuzzy Systems can be computationally demanding and an Inertial Navigation System (INS) is often onboard the vehicle, an assisted INS Doppler version has been designed and is also proposed. Assessment of the new GPS tracking method is performed with both simulated and experimental data under jamming conditions. The main enhancements of the proposed system consist in reduced processing time, improved tracking continuity and faster reacquisition time.

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Tightly coupled GPS/INS integration for missile applications

Cited by 94 publications

References 6 publications

Integrated GPS/INS navigation system with dual-rate Kalman Filter

Integrated GPS/INS navigation system with dual-rate Kalman Filter

MIMU/GNSS Tightly-Coupled Covariance Shaping Adaptive Filtering Method for UAV

INS Assisted Fuzzy Tracking Loop for GPS-Guided Missiles and Vehicular Applications

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