Inertial Navigation System Aiding with Orbcomm LEO Satellite Doppler Measurements

Joshua J. Morales, Joe Khalife, Ali A. Abdallah, Christian T. Ardito, and Zak M. Kassas

Abstract:	A tightly-coupled inertial navigation system aided by Orbcomm low Earth orbit (LEO) satellite signals is developed. The developed navigation framework enables a navigating vehicle to aid its inertial navigation system (INS) with Doppler measurements drawn from Orbcomm LEO satellite signals in a tightly coupled fashion when global navigation satellite system (GNSS) signals become unusable. Experimental results are presented showing an unmanned aerial vehicle (UAV) aiding its onboard INS with Doppler measurements drawn from two Orbcomm LEO satellites, reducing the final position error from 31.7 m to 8.8 m after 30 seconds of GNSS unavailability.
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:	2718 - 2725
Cite this article:	Morales, Joshua J., Khalife, Joe, Abdallah, Ali A., Ardito, Christian T., Kassas, Zak M., "Inertial Navigation System Aiding with Orbcomm LEO Satellite Doppler Measurements," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 2718-2725. https://doi.org/10.33012/2018.16059
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