INS/DGPS Integration Utilizing Wavelet Multi-Resolution Analysis

A. Osman, A. Noureldin, S. Nassar, N. El-Sheimy

Abstract:	Most of the present vehicular positioning systems depend on Kalman filtering to integrate the INS and GPS outputs. Although of being widely used, the Kalman filtering-based estimation procedure still has some drawbacks related to computation load, immunity to noise effects and observability. This article suggests a new methodology based on wavelet transformation for INS/DGPS integration. In addition, it offers a technique to improve the stand-alone INS positioning accuracy during GPS signal blockages. The new proposed method is based on separately processing the INS and the DGPS navigation parameter outputs with multi-level wavelet decomposition. The DGPS approximation and details of the navigation output is compared to the corresponding INS approximation and details. The errors in between are used to reconstruct the navigation parameters error signal, which is used to correct the INS navigation output. The results have shown that substantial improvement in INS/DGPS accuracy could be obtained by applying wavelet multi-resolution analysis.
Published in:	Proceedings of the 2003 National Technical Meeting of The Institute of Navigation January 22 - 24, 2003 Disneyland Paradise Pier Hotel Anaheim, CA
Pages:	704 - 710
Cite this article:	Osman, A., Noureldin, A., Nassar, S., El-Sheimy, N., "INS/DGPS Integration Utilizing Wavelet Multi-Resolution Analysis," Proceedings of the 2003 National Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2003, pp. 704-710.
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