3D Formation Flight using Differential Carrier-phase GPS Sensors

Eric A. olsen, Chan-Woo Park, Jonathan P. How

Abstract:	This paper describes research ol) 3D formation flight (~s-illg carrier-differential GPS sensors. Although absolute position at the cel)tirneter level is gelleral]y not possible ill real-time, relative position between vehicles within tile format ion can be obtained at these levels of accuracy us-ing carrier phase differellcing. Tfowever, several challenges exist, i)efore these rneasurernents can be used i)) the fol-matioll state estirnatioll, il~cludillg solving for the integer biases A method to generate a formation malwuver to rapidly solve for these biases is l)resented. I11 order to better Ilnderst,arld the problems associated wit 1] 3 D formation Oight, a ]Iew test hed has been deve-oped. This (estbed cllrrent Iy COItsists of two lighter-thaw air vehicles (blimps) that operate ill Litl indoor rGPS lab-oratory. Ol)eratjin.g indoors has several advantages, bllt also presents some significant cha Ilellges. A description of both tile indoor environmmlt, all(l the (+PS receiver devel-oped Ior this application is givw 1. Fillall,y, experimental results are presented for a single blimp performing a large scale :tutonomous fli~ht and Ialldillg. Data is also prc-sent, ed for t hc two veilicle Iornititioll undergoil)g several rnarlellvers.
Published in:	Proceedings of the 11th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1998) September 15 - 18, 1998 Nashville, TN
Pages:	1947 - 1956
Cite this article:	Updated citation: Published in NAVIGATION: Journal of the Institute of Navigation
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