Volume VII of the GPS Red Book: Integrated Systems

Global Positioning System: Papers Published in NAVIGATION

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Overview

Edited by: Dr. Maarten Uijt de Haag, Ohio University; Dr. Demoz Gebre-Egziabher, University of Minnesota; and Dr. Mark Petovello, University of Calgary.

This is the seventh volume of papers published by The Institute of Navigation in the Redbook series. This volume focuses on the integration of navigation systems in general including, but not exclusively limited to, GPS.

Use of multiple navigation systems in an integrated or hybrid manner rather than a single navigation system often enables operation of the user's system in an environment where the stand-alone navigation system would not be able to reliably provide a Precision Navigation and Time (PNT) service. Especially in a time when GPS (or more generally GNSS) has made a position, velocity, and timing solution available to many people, the demand for a better (higher accuracy) and more reliable PNT solution in a wider range of operational environments has increased. Integration of multiple navigation systems is a technology enabler to achieve that goal. However, integration of multiple navigation systems is not something new. Work on integrated navigation dates back decades as illustrated by some of the papers in this volume including aviation, terrestrial, maritime and space applications; GPS/INS integration in general and GPS/INS streamlined.

Volume VII Contents

Overview
Maarten Uijt de Haag, Demoz Gebre-Egziabher, and Mark G. Petovello

Aviation Applications

Alternative Approaches to Integrated Airborne OMEGA/Inertial Navigation
D.E. Gentry, J.A. D'Appolito, and J.F. Kasper, Jr.

The AN/ASN-128B: An Integrated Doppler/GPS Navigation System for Helicopters
Heinz Buell and Leonid Oleinik

Integrated GPS LAAS/Inertial Guidance System Using Multiple Kalman Filters
Mats Brenner

INS-Aiding Using Bearings-Only Measurements of an Unknown Ground Object
Meir Pachter, Alec Porter, and Murat Polat

Optimizing the Integration of Terrain Referenced Navigation with INS and GPS
Paul D. Groves, Robin J. Handley, and Andrew R. Runnalls

Terrain-Referenced Precision Approach Guidance Proof-of-Concept Flight Test Results
Jacob Campbell, Maarten Uijt de Haag, and Frank van Graas

Feedback Coupled Dual ALS and IMU for Autonomous Aerial Vehicle Navigation
Ananth K. Vadlamani and Maarten Uijt de Haag

Use of Low-Cost GPS/AHRS with Head-Up Guidance Systems for CAT III Landings
Ryan S. Y. Young, Patrick Y.C. Hwang, and David A. Anderson

Terrestrial Applications

An Integrity and Quality Control Procedure for use in Multi Sensor Integration
P.J.G. Teunissen

Parametric Error Equations for Dead Reckoning Navigators used in Ground Vehicle Guidance and Control
David M. Bevly, Demoz Gebre-Egziabher, Bradford Parkinson

Benefits of Using a Tactical-Grade IMU for High-Accuracy Positioning
M.G. Petovello, M.E. Cannon, and G. Lachapelle

Precise Robust Positioning with Inertially Aided RTK
Bruno M. Scherzinger

Tight Coupling of Laser Scanner and Inertial Measurements for a Fully Autonomous Relative Navigation Solution
Andrey Soloviev, Dustin Bates, and Frank van Graas

Indoor PDR Performance Enhancement using Minimal Map Information and Particle Filters
Stéphane Beauregard, Widyawan, Martin Klepal

Fusing Low-Cost Image and Inertial Sensors for Passive Navigation
Michael Veth and John Raquet

Maritime and Space Applications

Techniques for Soft-Failure Detection in a Multisensor Integrated System
J. Christopher McMillan, Jeffrey S. Bird and Dale A.G. Arden

Future Lunar Landing Navigation Schemes, with Emphasis on Precision Landings
Dan G. Tuckness

Augmentation of GPS for Ship Navigation in Constricted Water Ways
S. Ryan, M. Petovell, and G. Lachapelle

GPS Attitude Determination for the SOAR Experiment
Jaeyong Um and E. Glenn Lightsey

Precision Hybrid Inertial/Acoustic Navigation System for a Long-Range Autonomous Underwater Vehicle
Bruce Butler and Ron Verrall

GPS/INS Integration in General

Integration of GPS/INS for Maximum Velocity Accuracy
John W. Diesel

GPS/INS - Streamlined
James L. Farrell

A Performance Comparison of Tightly Coupled GPS/INS Navigation Systems Based on Extended and Sigma Point Kalman Filters
J. Wendel, J. Metzger, R. Moenikes, A. Maier, and G.F. Trommer

Deeply Integrated GPS/Low-Cost IMU for Low CNR Signal Processing: Concept Description and In-Flight Demonstration
Andrey Soloviev, Sanjeev Gunawardena, and Frank van Graas