GPS/IMU Integration Using Block Processing Techniques

Maarten Uijt de Haag and Frank van Graas

Abstract:	The application of digital signal processing techniques to blocks of samples instead of samples sequentially, has become a viable option in GPS with the recent development of software receivers. These digital signal processing techniques are generally referred to as block-processing techniques and have a number of advantages over the traditional techniques, such as the possibility to implement zero-phase and other non-causal filters, the availability of a broader variety of possible non-linear filters, and the possibility to use transform domain techniques. In GPS receivers, any one or a combination of these techniques may be used to replace the usual tracking and acquisition functions resulting in improved RF interference rejection properties as well as reducing the dynamic error vs. noise tradeoff. Similar techniques may be applied to the outputs of an IMU. Coupling the block-processors of a GPS software receiver and an IMU may further improve the observability resulting in an integrated GPS/IMU sensor. In this paper, a block-processing based approach to GPS/IMU integration is proposed. A detailed description of a possible GPS block processor is given, and preliminary results of the GPS block-processor are discussed.
Published in:	Proceedings of the 55th Annual Meeting of The Institute of Navigation (1999) June 27 - 30, 1999 Royal Sonesta Hotel Cambridge, MA
Pages:	133 - 140
Cite this article:	de Haag, Maarten Uijt, van Graas, Frank, "GPS/IMU Integration Using Block Processing Techniques," Proceedings of the 55th Annual Meeting of The Institute of Navigation (1999), Cambridge, MA, June 1999, pp. 133-140.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In