On the Stability Investigation of Integrated GPS/INS Navigation Systems

Dah-Jing Jwo and Dan G. Tuckness Jr.

Abstract:	A possible cause of stability problems can be due to the INS information aiding as it helps the GPS to maintain a lock on the signal. In this paper, the intention is to focus on the stability behavior of the simplified integrated system, which allows clear observation of the mutual-influence between the system elements. Classical Routh’s stability criterion and root locus method will be used in this paper. For the velocity aiding case, the result shows that a larger loop noise bandwidth needs to be used if a simple filter is used in the receiver, especially for the case of tight integration. A loose integration method can significantly reduce the noise bandwidth. For the position aiding cases, the results show that bandwidth can be smaller as compared to the velocity aiding case. If an active filter is used, bandwidth reduction is usually acceptable. In addition to small bandwidth, root loci behavior will be studied to observe the instability problem due to the filter gain deviation.
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:	989 - 1000
Cite this article:	Jwo, Dah-Jing, Tuckness, Dan G., Jr., "On the Stability Investigation of Integrated GPS/INS Navigation Systems," Proceedings of the 9th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1996), Kansas City, MO, September 1996, pp. 989-1000.
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