Stationary Alignment of Strapdown Inertial Navigation System Using GPS Carrier Phase Measurements

Jinwon Kim and Jang Gyu Lee, Gyu-In Jee,Chansik Park

Abstract:	For its synergistic relationship, the integrated GPS/INS system has been adopted in many navigation systems. As an application of the GPS/INS integration, a stationary alignment process of SDINS utilizing GPS carrier phase measurements is introduced and analyzed via an observability analysis. A measurement model of double-differenced GPS carrier phase measurements is newly derived in order to be used with the SDINS error model. Also, conditions for determining the complete observability of this system are suggested and proved. Consequently, it is shown that the system is not completely observable in case of one baseline. Roll error and y-axis accelerometer bias are the unobservable states. Also shown is that all states are completely observable when using two or more baselines. Above results are confirmed by a covariance analysis.
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:	329 - 337
Cite this article:	Kim, Jinwon, Lee, Jang Gyu, Jee, Gyu-In, Park, Chansik, "Stationary Alignment of Strapdown Inertial Navigation System Using GPS Carrier Phase 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. 329-337.
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