Deep Integration of GPS/INS Based on a Software Defined Receiver – Implementation and Test Results

Sihao Zhao, Sara Powell, Mingquan Lu, Dennis Akos

Peer Reviewed

Abstract:	A Global Positioning System (GPS) and Inertial Navigation System (INS) deep integration method (VDI) based on a vector lock loop (VLL) is proposed in this research effort. The work presents a VDI for estimating navigation parameters including position, velocity and time, which is based on a software GPS receiver. Field GPS and INS data are collected from a mountainous environment and processed to evaluate the performance of the proposed VDI. Result shows that the proposed VDI can improve both positioning accuracy and robustness over VLL, conventional scalar lock loop (SLL) and sole INS.
Published in:	Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014) September 8 - 12, 2014 Tampa Convention Center Tampa, Florida
Pages:	2736 - 2746
Cite this article:	Zhao, Sihao, Powell, Sara, Lu, Mingquan, Akos, Dennis, "Deep Integration of GPS/INS Based on a Software Defined Receiver – Implementation and Test Results," Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 2736-2746.
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