An Investigation of Airborne GPSIINS for High Accuracy Position and Velocity Determination

Huangqi Sun, M. Elizabeth Cannon, Todd E. Owen and Mark A. Meindl

Abstract:	An airborne test using a differential GPS-INS system in a Twin Otter was conducted by Sandia National Laboratories to assess the feasibility of using the integrated system for cm-level position and cm/s velocity. The INS is a miniaturized ring- laser gyro IMU jointly developed by Sandia and Honeywell while the GPS system consists of the NovAtel GPSCardTM. INS position, velocity and attitude data were computed using Sandia’s SANDAC flight computer system and logged at 4 Hz and GPS data was acquired at a 1 Hz rate. The mission was approximately 2.5 hours in duration and the aircraft reached separations of up to 19 km from the base station. The data was post-processed using a centralized Kalman filter approach in which the double differenced carrier phase measurements are used to update the INS data. The INS position is in turn used to detect and correct GPS carrier phase cycle slips and also to bridge GPS outages. Results are presented for the GPS-only case and also for integrated GPS/lNS.
Published in:	Proceedings of the 1994 National Technical Meeting of The Institute of Navigation January 24 - 26, 1994 Catamaran Resort Hotel San Diego, CA
Pages:	801 - 809
Cite this article:	Sun, Huangqi, Cannon, M. Elizabeth, Owen, Todd E., Meindl, Mark A., "An Investigation of Airborne GPSIINS for High Accuracy Position and Velocity Determination," Proceedings of the 1994 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1994, pp. 801-809.
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