GPS Aided Dead Reckoning Navigation

Robert Zickel and Nahum Nehemia

Abstract:	This paper &scribes a simple low cost navigation system for the automotive industry. The position accuracy is obtained by merging the position of Dead Reckoning (DR) algorithm with GPS measurements via a KaIman Filter o(F). A digital odometer and a compass based on strapdown flux-gates are merged together to compute the DR position. The KF enables us to filter GPS Selective availability (SA) errors compensate for odometer’s scale factor error, and compass heading error. The approach used for land navigation may be applied to maritime and aerial navigation, taking into account sea streams and wind effects. The filter design takes into account uncertainties, via covariance matrices. In wide open spaces GPS positioning will dominate while in urban zones where GPS signals are obstructed, dead reckoning will be used between GPS position fixes. Simulation studies and covariance analysis show that the proposed method gives better performance than stand alone GPS or DR. The heading accuracy is improved, the odometer’s scale factor estimate is improved and thus the ability to navigate while losing GPS signals is much better. There is also an improvement in the navigation accuracy while using GPS.
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:	577 - 586
Cite this article:	Zickel, Robert, Nehemia, Nahum, "GPS Aided Dead Reckoning Navigation," Proceedings of the 1994 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1994, pp. 577-586.
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