Nonlinear Smoothing of Dead Reckoning Data With GPS Measurements

Ren Da and George Dedes

Abstract:	This paper presents a low cost and high accuracy integrated Global Positioning System (GPS)/dead reckoning system (DRS). The integrated GPS/DRS system is capable of proving highly accurate position data in real-time or in post processing. Based on the analysis of the main error sources affecting the DRS measurements, an eight-state mathematical model has been developed to represent these errors. This eight-state model has been used to build a nonlinear smoother for the estimation of the state vector at every epoch when DRS measurements are available. The accuracy of the system has been evaluated using 1OHz DRS measurements and 3sec continuous GPS positions estimated using On-The-Ply ambiguity resolution techniques. The system performance during periods with GPS outages has been further investigated by deleting GPS positions for various time intervals. Investigation results have shown that the navigation system is capable of providing cm-level accuracy using low cost gyros and wheel counter sensors.
Published in:	Proceedings of the 8th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1995) September 12 - 15, 1995 Palm Springs, CA
Pages:	1285 - 1294
Cite this article:	Da, Ren, Dedes, George, "Nonlinear Smoothing of Dead Reckoning Data With GPS Measurements," Proceedings of the 8th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1995), Palm Springs, CA, September 1995, pp. 1285-1294.
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