An Analysis to Enhance the Reliability of an Integrated Navigation System at Multiple Stages by using FOS

Umar Iqbal, Ashraf Abosekeen, Aboelmagd Noureldin, Michael J. Korenberg

Abstract:	Traditionally, integrating GPS with other systems like INS has been provided by KF or by Extended KF (EKF), which relies on a linearized error model of both GPS and INS. KF has provided a reliable GPS/INS integration solution for high-end navigational and tactical grade INS, but may not be able to address the complex stochastic and high order errors of MEMS grade sensors that result in large values of the nonlinear error terms that are usually ignored during the linearization process which generates the error model for KF. When the low-cost MEMS IMU is integrated with GPS by using traditional KF integration techniques, the solution becomes inconsistent, especially in extended GPS outages. This paper reviews Fast-Orthogonal-Search (FOS) is a general-purpose modeling technique and its utilization to improve the overall navigation solution by modeling errors at the sensor, measurement, and integration level.
Published in:	Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020) September 21 - 25, 2020
Pages:	326 - 340
Cite this article:	Iqbal, Umar, Abosekeen, Ashraf, Noureldin, Aboelmagd, Korenberg, Michael J., "An Analysis to Enhance the Reliability of an Integrated Navigation System at Multiple Stages by using FOS," Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020), September 2020, pp. 326-340. https://doi.org/10.33012/2020.17606
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