The fibre optic gyroscope and its integration with GPS phase and other measurements.

Scott A. Logan

Abstract:	The paper describes the integration of raw Global Positioning System (GPS) phase measurements with measurements from fibre optic gyroscopes, and other sensors such as odometers or wheel sensors. The principles behind rotation sensing through optical methods are reviewed followed by a brief discussion of how these principles are applied in fibre optic gyroscopes. The ring laser gyroscope is briefly discussed and compared with the fibre optic gyroscope. The GPS carrier beat phase observable is introduced, leading to a discussion of the purposes of forming linear combinations of the observable through differencing. Observation equations for single, double and triple differences are formed. A proposal is put forward to extend the triple difference model to allow the movement of a GPS receiver to be computed. The observation equation for the modified triple difference is derived and explained. Observation equations for the other measurement types that may be used in the integrated system are formulated. The preliminary design of a Kalman filter for the integrated navigation system is also presented. The paper concludes with a short description of the foreseeable benefits of this form of integrated navigation system over existing systems.
Published in:	Proceedings of the 10th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1997) September 16 - 19, 1997 Kansas City, MO
Pages:	815 - 824
Cite this article:	Logan, Scott A., "The fibre optic gyroscope and its integration with GPS phase and other measurements.," Proceedings of the 10th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1997), Kansas City, MO, September 1997, pp. 815-824.
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