Hybrid GPS for Land Vehicle

S. Ishikawa, Y. Suwa, N. Nalcahara, T. Ito, T. Yamamoto, Y. Murakami, and T. Yasuda

Abstract:	Simple Kalman ater model is described for the hybrid GPS system which includes GPS receiver, strapdown vibration gyro and conventional speed sensor for the speed meter of the vehicle. 4 dimensional state vector of Kalman filter, X=[ A x A y A z c A t] T enable us to consider the effects of constellation of satellites, SVACC and DR (dead reckoning) sensors’ error. To prevent covariance m&ix from becoming too small during iteration, multiplied factor k has been introduced in our hybrid GPS system. All in view operation is easily available by using this Kalmm filter model. As the result, the effect of constellation of satdlites, SVACC and DR sensors‘ error \ can be plactidy calculated by our basic navigation equations for land vehicle, which can be easily modified for various types of GPS receivers and DR sensors. One of the signi&ant features of this development is that our Kahnan titer model is able to calculate 6x position every second on commercial CPU (central Procasing bit). Simulation results and some of the field data are shown.
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:	1301 - 1306
Cite this article:	Ishikawa, S., Suwa, Y., Nalcahara, N., Ito, T., Yamamoto, T., Murakami, Y., Yasuda, T., "Hybrid GPS for Land Vehicle," 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. 1301-1306.
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