Robust GPS/INS Integrated System in Urban Region: GPS/INS/Pseudolite Integration

Yudan Yi

Abstract:	Currently, GPS/INS integrated systems are considered the primary sensors to collect precise position and orientation data for photogrammetry, mapping, or other applications. However, the reliability and accuracy of such a system mainly depends on the environment and other conditions, especially for the land-based GPS/INS integrated systems operating in urban regions where losses of GPS lock occur frequently. In order to retain stable and reliable accuracy or even to improve the accuracy of such a system, ground-based satellites called pseudolites (PL for short) are introduced in this paper to reinforce the geometry of the available satellites, thus to maintain or to improve the reliability and the accuracy of the land-based GPS/INS integrated systems. The concept and the data processing model for a land-based GPS/INS/PL integrated system are addressed here, and the results and the performance analysis based on the experimental data conducted on May 4, 2001 and the simulated data, are presented in this paper.
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:	2396 - 2405
Cite this article:	Yi, Yudan, "Robust GPS/INS Integrated System in Urban Region: GPS/INS/Pseudolite Integration," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 2396-2405.
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