Precise Robust Positioning with Inertial/GPS RTK

Bruno M. Scherzinger

Abstract:	This paper describes a Position and Orientation System (POS) with inertially aided RTK under development at Applanix, whose design objective is to achieve robust positioning with decimeter-level accuracy. This paper discusses the following integration strategies. A loosely coupled integration comprises the integration of inertial and GPS navigation solutions in a Kalman filter). A tightly coupled integration comprises the integration of GPS and inertially predicted observables in a Kalman filter). This paper describes the design of the POS and its performance during preliminary tests. The POS implements tightly coupled inertial/GPS integration with floated ambiguity estimation and fixed integer search in a single Kalman filter. The POS is able to recover L1 integer ambiguities within seconds of a short-duration GPS outage while maintaining decimeter-level accuracy throughout the outage. This paper discusses the factors that control the maximum outage duration for rapid fixed integer ambiguity recovery and the position accuracy during the outage.
Published in:	Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000) September 19 - 22, 2000 Salt Palace Convention Center Salt Lake City, UT
Pages:	155 - 162
Cite this article:	Scherzinger, Bruno M., "Precise Robust Positioning with Inertial/GPS RTK," Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000), Salt Lake City, UT, September 2000, pp. 155-162.
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