Vehicular Navigation in Urban Canyons Using a High Sensitivity GPS Receiver Augmented with a Low Cost Rate Gyro

O. Mezentsev, Y. Lu, G. Lachapelle and R. Klukas

Abstract:	A vehicular navigation system that consists of an unaided high sensitivity GPS receiver integrated with a vehicular navigation quality piezoelectric vibrating gyro is presented. First, the performance of the stand-alone high sensitivity GPS receiver in urban canyons is studied and the motivation for the gyro augmentation is given. Experimental testing was performed in downtown Calgary. GPS raw data analysis was carried out using an epoch-by-epoch least squares approach to better analyze the quality of the measurements and their impact on positions. These results are compared to those obtained using a filtered solution. Rate gyro augmentation model equations and Kalman filter equations with additional constraints used herein are then described. The results of receiver augmentation with a rate gyro show significant improvement in accuracy in where GPS receivers experience harsh signal masking and severe multipath.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	363 - 369
Cite this article:	Mezentsev, O., Lu, Y., Lachapelle, G., Klukas, R., "Vehicular Navigation in Urban Canyons Using a High Sensitivity GPS Receiver Augmented with a Low Cost Rate Gyro," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 363-369.
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