Development of a GNSS-Based Multi-Sensor Vehicle Navigation System

J. Stephen and G. Lachapelle

Abstract:	An integrated multi-sensor vehicle navigation system is presented which uses a low cost rate gyro and differential odometry to supplement GNSS availability under signal masking. The purpose of the system is to provide various applications with 10 m accuracy nearly 100% of the time. The equipment used is discussed in detail, and the method of filtering the data is explained. Results from two tests with simulated GPS signal masking for 100 and 200s intervals are presented. Tests demonstrate that the use of differential odometry augmentation does not reach the 10 m specifications, but with the use of a gyro and odometry they are nearly met. After further tuning of the filters and data processing techniques, these specifications will likely be met.
Published in:	Proceedings of the 2000 National Technical Meeting of The Institute of Navigation January 26 - 28, 2000 Pacific Hotel Disneyland Anaheim, CA
Pages:	268 - 278
Cite this article:	Stephen, J., Lachapelle, G., "Development of a GNSS-Based Multi-Sensor Vehicle Navigation System," Proceedings of the 2000 National Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2000, pp. 268-278.
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