Inertially Aided RTK Performance Evaluation

Bruno M. Scherzinger

Abstract:	This paper describes the results of a series of performance tests of an inertially aided RTK (IARTK) positioning system using dual frequency GPS receivers. The system being evaluated is the Position and Orientation System for Land Vehicles (POS LV) developed by Applanix Corporation, whose design objectives are to achieve robust positioning with decimeter-level accuracy during various levels of satellite coverage ranging from total outage to complete coverage. The performance tests described here comprise a series of urban navigation tests in downtown Toronto and Tokyo. These test environments can be described as urban canyons, which severely limit GPS coverage during most of the tests. This paper first gives an overview of the POS LV and the IARTK architecture that it implements. The paper then describes the performance tests and the results that the tests generated. The performance tests comprise a series of trajectories through Toronto and Tokyo that were performed as part of demonstrations to potential POS LV customers. This paper reports one of the Tokyo tests. Consequently there was no preplanning of the trajectories. The performance is assessed from a comparison of the computed trajectories with the cities’ curb maps. The performance tests demonstrate that the POS LV with IARTK is able to navigate with sub-meter accuracy through urban canyons that deny GPS coverage for tens of minutes and allows one or two satellites for most of the remainder of the trajectory, and is able to recover integer RTK within seconds of full GPS coverage.
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:	1429 - 1433
Cite this article:	Scherzinger, Bruno M., "Inertially Aided RTK Performance Evaluation," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 1429-1433.
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