Performance Verification of Ultra-tight GPS/INS System Using a Comprehensive GPS/INS Data Simulation Tool

Malek O. Karaim, Mohamed Youssef, Aboelmagd Noureldin

Peer Reviewed

Abstract:	Navigation solutions have become a vital part of our lives due to their use in numerous applications. Among these is land vehicle navigation, where navigation systems are embedded in passenger cars, ambulances, police cars, farming vehicles, fire trucks, among others. Two popular navigation systems employed in such an application are the Global Positioning System (GPS) and the Inertial Navigation System (INS). The GPS and INS have been integrated for their complementary characteristics to provide a more accurate and robust navigation solution than either stand-alone system. Based on the required accuracy, the simplicity of the desired system, and other factors, the two systems are integrated using any of the three common approaches of integration with the deepest level being the ultra-tightly coupled GPS/INS. The significance of research in this paper is two-fold. First, it introduces a new ultra-tight GPS/INS integrated system that enhances a receiver’s tracking robustness and sensitivity in challenging scenarios and consequently improves navigation availability. Second, it presents a novel GPS/INS trajectory data simulation podium. The latter proposed system can generate simulation data sets for all levels of GPS/INS integration and is used in this paper to verify the operation and performance of the newly implemented ultra-tight GPS/INS integrated system. The software receiver approach has been adopted as a platform for implementing the proposed algorithm; however, the proposed methodology can be applied in conventional hardware receivers as well. The performance of the suggested system(s) has been tested using a variety of simulation trajectory data sets in various conditions and scenarios.
Published in:	Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) September 24 - 28, 2018 Hyatt Regency Miami Miami, Florida
Pages:	3199 - 3208
Cite this article:	Karaim, Malek O., Youssef, Mohamed, Noureldin, Aboelmagd, "Performance Verification of Ultra-tight GPS/INS System Using a Comprehensive GPS/INS Data Simulation Tool," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 3199-3208. https://doi.org/10.33012/2018.15988
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