Using the GPS/INS Generalized Evaluation Tool (GIGET) for the Comparison of Loosely Coupled, Tightly Coupled and Ultra-Tightly Coupled Integrated Navigation Systems

J.D. Gautier, B.W. Parkinson

Abstract:	GIGET, the GPS/INS Generalized Evaluation Tool, is used to experimentally test, evaluate, and compare navigation systems that combine the Global Positioning System (GPS) with Inertial Navigation Systems (INS). Most of the integrated systems built to date have been point designs for very specific applications. GIGET aids in the selection of sensor combinations for any general application or set of requirements. GIGET is the generalized way to evaluate the performance of integrated systems. This paper will present results using GIGET to compare loosely coupled, tightly coupled and ultra-tightly coupled integrated navigation schemes using navigation, tactical, or automotive grade inertial sensors with GPS. These GIGET results can be used to determine acceptable sensor quality for these integration methods for a variety of dynamic environments. GIGET is a combination of easily re-configurable hardware and analysis tools that can provide real-time comparisons of multiple navigation algorithms. It includes a unique, five-antenna, forty-channel GPS receiver providing GPS attitude, position, velocity, and timing. An embedded computer with modular real-time software blends the GPS measurements with sensor information from a Honeywell HG1700 tactical grade inertial measurement unit. GIGET can be quickly outfitted onto a variety of vehicle platforms to experimentally test and compare navigation performance.
Published in:	Proceedings of the 59th Annual Meeting of The Institute of Navigation and CIGTF 22nd Guidance Test Symposium (2003) June 23 - 25, 2003 Hyatt Regency Hotel Albuquerque, NM
Pages:	65 - 76
Cite this article:	Gautier, J.D., Parkinson, B.W., "Using the GPS/INS Generalized Evaluation Tool (GIGET) for the Comparison of Loosely Coupled, Tightly Coupled and Ultra-Tightly Coupled Integrated Navigation Systems," Proceedings of the 59th Annual Meeting of The Institute of Navigation and CIGTF 22nd Guidance Test Symposium (2003), Albuquerque, NM, June 2003, pp. 65-76.
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