Operation of an Integrated Vehicle Navigation System in a Simulated Urban Canyon

J. Stephen

Abstract:	An integrated multi-sensor vehicle navigation system that uses a rate gyro and differential odometry dead reckoning, as well as height aiding and clock modeling of a precise oscillator, is presented. The purpose of the system is to provide various applications with 20 m accuracy most of the time under the strenuous conditions found in urban centers and under tree canopy. The equipment used is briefly discussed, and several methods of filtering the data are explained. Results from two tests with simulated urban canyon GPS signal masking and various augmentations are presented. Tests demonstrate that the use of differential odometry or odometry in conjunction with a gyro provides continuous navigation between GPS fixes. Sparse GPS fixes usually provide enough information to maintain a position estimate which comes close to meeting the desired accuracy. After further tuning of the filters and data processing techniques, these specifications will likely be met.
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:	2424 - 2435
Cite this article:	Stephen, J., "Operation of an Integrated Vehicle Navigation System in a Simulated Urban Canyon," 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. 2424-2435.
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