GPS/INS/Pseudolite Integration: Concepts, Simulation and Testing

Jinling Wang, Liwen Dai, Toshiaki Tsujii, Chris Rizos, Dorota Grejner-Brzezinska and Charles Toth

Abstract:	Traditionally, Inertial Navigation Systems (INS) provide positioning and attitude information for the guidance (and perhaps control) of a wide range of moving platforms in the air, at sea, or on the ground. However, the time- dependent growth of systematic errors is a major concern in INS applications. Precise satellite measurements are ideally suited for the calibration of INS systematic errors. Therefore, integrated INS and GPS (and/or Glonass) sys- tems have been developed, which can provide high-rate precise positioning and attitude information. The major drawback of existing systems is that their per- formance decreases under difficult operational conditions, for example when satellite signals are obstructed for ex- tended periods of time. In the worst situations, such as underground and inside buildings, the satellite signals may be completely lost. In circumstances where satellite signals are unavailable, it may be possible to maintain availability of range measurements for use in calibrating the INS systematic errors by placing 'pseudo-satellites' (pseudolites) at appropriate locations. Thus, an augmen- tation of existing systems with ranging signals from ground-based pseudolites would result in a new design that could address the problems of signal availability. In fact, integrated GPS/INS/Pseudolite systems are, in prin- ciple, an ideal option for seamless indoor-outdoor posi- tioning and attitude determination. This paper discusses the concept of GPS/INS/Pseudolite integration in detail. Both system performance simulation and experimental results are presented to demonstrate the feasibility of such an integrated system.
Published in:	Proceedings of the 14th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2001) September 11 - 14, 2001 Salt Palace Convention Center Salt Lake City, UT
Pages:	2708 - 2715
Cite this article:	Wang, Jinling, Dai, Liwen, Tsujii, Toshiaki, Rizos, Chris, Grejner-Brzezinska, Dorota, Toth, Charles, "GPS/INS/Pseudolite Integration: Concepts, Simulation and Testing," Proceedings of the 14th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2001), Salt Lake City, UT, September 2001, pp. 2708-2715.
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