Kinematic DGPS and INS hybridization for Precise Trajectory Determination

Arnaud Masson, Didier Burtin and Mathieu Sebe

Abstract:	As part of its activities, LRBA has the reponsibility of evaluating the global performance of navigation systems of any kind (inertial. radionavigation based and hybrid systems including radar, radio-altimeter or odometer). A very accurate and robust trajectory determination system was therefore deveiopped, based on kinematic GPS and a high grade inertial unit Sigma 30 from Sagem. After a global description of the system architecture, a detailed explanation is given on the GPS measurement processing. The “On The Fly” algorithm developped is presented with its specificities (acceleration process, ambiguity acception criterion, zero velocity case . ..). Inertial data filtering is then explained with error modelling and use of kinematic GPS data. A global process chart is given. Hardware implementation on the vehicule is then described. In the end, a detailed performance of the system is given, in terms of accuracy, time to resolve GPS ambiguities and maximum duration of GPS masking allowing a rapid recovery of ambiguities.
Published in:	Proceedings of the 9th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1996) September 17 - 20, 1996 Kansas City, MO
Pages:	965 - 973
Cite this article:	Updated citation: Published in NAVIGATION: Journal of the Institute of Navigation
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