Integration of GPS and INS Using Float Ambiguities with Application to Precise Positioning for JPALS

M.G. Petovello, M.E. Cannon, G. Lachapelle, A. Huang and V. Kubacki

Abstract:	The use of a GPS/INS system for precise positioning using carrier phase float ambiguity values is assessed in this paper. Both loose and tight integration strategies are tested, and results are compared to those obtained using GPS alone, where appropriate. During ideal satellite coverage, the difference between all the solutions is shown to be minimal as GPS acts as the primary navigation system. However, if a loss of lock on several satellites occurs, the loose and tight integrations offer improvements of about 17 cm and 25 cm, respectively, over GPS alone. During simulated data outages, the integration method chosen was shown to have only a minor impact on the free-inertial performance with position errors growing to 1 m after about 26 s. Finally, a statistical reliability analysis shows that tight integration offers a significant improvement relative to GPS-only. Velocity protection levels for the Doppler measurements were decreased by about one order of magnitude. Similarly, the position protection levels for the carrier phase measurements were decreased by several cenitimeters in some cases.
Published in:	Proceedings of the 2004 National Technical Meeting of The Institute of Navigation January 26 - 28, 2004 The Catamaran Resort Hotel San Diego, CA
Pages:	1126 - 1136
Cite this article:	Petovello, M.G., Cannon, M.E., Lachapelle, G., Huang, A., Kubacki, V., "Integration of GPS and INS Using Float Ambiguities with Application to Precise Positioning for JPALS," Proceedings of the 2004 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2004, pp. 1126-1136.
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