Reliability of an Adaptive Integrated System through Consistency Comparisons of Accelerometers and GNSS Measurements

Anup Dhital, Jared B. Bancroft, Gerard Lachapelle

Abstract:	The reliability of an integrated navigation system can be improved by choosing proper sensor measurement variances, as characterized by the input measurement covariance matrix. In an integrated global navigation satellite system/inertial navigation system (GNSS/INS), the sensor noise characteristics of inertial sensors such as accelerometers and gyroscopes remain fairly constant while the quality of GNSS measurements varies depending on the environment. This paper proposes a novel approach to adapt the GNSS measurement variances by comparing the consistency of accelerations derived using GNSS and accelerometer measurements. Results obtained by processing data collected in different scenarios and environments are presented. The analysis shows the proposed method significantly improves the reliability of the navigation system. The algorithm is found to be very robust against multipath and provides a much more reliable solution even in highly degraded GNSS conditions. Further, when GNSS measurements are affected by multipath, not only does the reliability improve, but accuracy as well.
Published in:	Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012) September 17 - 21, 2012 Nashville Convention Center, Nashville, Tennessee Nashville, TN
Pages:	1244 - 1252
Cite this article:	Dhital, Anup, Bancroft, Jared B., Lachapelle, Gerard, "Reliability of an Adaptive Integrated System through Consistency Comparisons of Accelerometers and GNSS Measurements," Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012), Nashville, TN, September 2012, pp. 1244-1252.
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