GPS-DR Integration Using Low Cost Sensors

B. R. Madhukar, R. A. Nayak, J. K. Ray, M. R. Shenoy

Abstract:	A land navigation system integrating a low cost GPS receiver and Dead Reckoning (DR) sensors is developed. The DR sensors consist of an odometer and a vibrational gyroscope. A Kalman filter is developed, which uses all the available information and estimates an optimum solution for position, velocity and sensor errors. Position accuracy is tested under signal masking conditions. Field test data shows an average of 5.3% of distance traveled as cross-track error, under satellite blockage. Investigations are carried out in a tight coupling mode of GPS-DR integration. In this mode, the DR estimated velocity aids the receiver-tracking loop, which is a second order Frequency Lock Loop (FLL). Simulation was conducted to observe improvements in acquisition and tracking due to velocity aiding. Later, experiments were performed using a GPS simulator and also using real data. Initial results show a 2dB improvement of acquisition performance and lowered the reacquisition search time by decreasing the search-frequency range. Tracking performance was also found to have improved by the DR aiding.
Published in:	Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999) September 14 - 17, 1999 Nashville, TN
Pages:	537 - 544
Cite this article:	Madhukar, B. R., Nayak, R. A., Ray, J. K., Shenoy, M. R., "GPS-DR Integration Using Low Cost Sensors," Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999), Nashville, TN, September 1999, pp. 537-544.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In