Accurate Gap Filling Using Properly Initialized INS During Periods of GPS Signal Blockage

Faroog Ibrahim, Tom Pilutti, Nizar Al-Holou, Mark Paulik

Abstract:	Temporary DGPS position loss, in circumstances such as an overhead bridge, can be alleviated by an inertial navigation system (INS) that uses onboard sensors to determine vehicle position. This work introduces a post-processing DGPS/INS integration method based on using the INS solution during DGPS outages or periods of low accuracy DGPS position solutions. The INS solution is initialized using the DGPS solution before position solution loss, and measurements from the Inertial Measurement Unit (IMU). The final INS solution is a weighted average of the INS forward and backward solutions. The initialization methods for different degree of freedom vehicle positioning models and the developed weighting model, are fully explained in this work. Experimental results are included.
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:	1931 - 1940
Cite this article:	Ibrahim, Faroog, Pilutti, Tom, Al-Holou, Nizar, Paulik, Mark, "Accurate Gap Filling Using Properly Initialized INS During Periods of GPS Signal Blockage," Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999), Nashville, TN, September 1999, pp. 1931-1940.
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