Observability Analysis of GPS Aided INS

Sinpyo Hong, Man-Hyung Lee, Jose Rios and Jason L. Speyer

Abstract:	This paper investigates observability properties of strapdown inertial navigation system (INS) aided by the Global Positioning System (GPS). Observability analysis is made on a linear error dynamics model of navigation equations in the Earth-centered Earth-fixed (ECEF) frame for both loosely-coupled and tightly-coupled integrations. Position and velocity measurements are given from multiple GPS antennas mounted on the vehicle. The motivation to consider multiple GPS antennas is that the lever-arms of them play an important role in observing vehicle attitude and biases of inertial motion unit (IMU) during navigation. Biases of IMU are assumed to be constant. Necessary and sufficient conditions for the instantaneous observability on the GPS/INS integrations are given. A numerical simulation is given to show the effectiveness of multiple GPS antennas in estimating vehicle attitude and biases of IMU when IMU has considerable magnitude of biases.
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:	2618 - 2624
Cite this article:	Hong, Sinpyo, Lee, Man-Hyung, Rios, Jose, Speyer, Jason L., "Observability Analysis of GPS Aided INS," 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. 2618-2624.
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