Low-Cost Single Frequency DGPS Aided INS for Vehicle Control

Yunchun Yang

Abstract:	The paper describes the implementation and experimental results of a real-time, single frequency Differential Global Position System (DGPS) aided low-cost Inertial Naviga- tion System (INS). Several algorithms, such as fifteen-state Kalman filter, phase smoothed code and Doppler correc- tion, are used to implement the DGPS/INS. The INS uses inexpensive solid state inertial sensors sampled at 150Hz and integrated with single frequency differential GPS phase smoothed code and Doppler measurements via complemen- tary filter at 1 Hz. The real-time 150Hz state (position, velocity and attitude) estimates achieve decimeter position accuracy and centimeter velocity accuracy. Due to its low- cost, full-state, real-time and high sampling frequency, such navigation systems have many application possibilities (e.g. aviation, automatic mining, precision farming, dredging, automotive or vehicle controlling, etc.)
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:	2299 - 2308
Cite this article:	Yang, Yunchun, "Low-Cost Single Frequency DGPS Aided INS for Vehicle Control," 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. 2299-2308.
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