Performance Analysis of a Tightly Coupled Kalman Filter for the Integration of Un-differenced GPS and Inertial Data

Yufeng Zhang and Yang Gao

Abstract:	The integration of Global Positioning System (GPS) and inertial sensors has been extensively investigated and increasingly applied in the past as it has benefits such as 6-degree freedom navigation solution, smoothed trajectory and increased reliability. Current GPS/INS systems, however, are all based on the integration of double differenced GPS measurements and INS data for position and velocity determination due to significant errors in the GPS measurements including satellites orbit and clock errors. The requirement for base GPS stations and a short separation between the base and user stations has limited its potential applications. This paper will analyze the achievable accuracy of un-differenced GPS and INS integrated system based on a new GPS positioning approach known as precise point positioning (PPP). A centralized Kalman filter has been developed and its performance will be assessed using data acquired from field tests.
Published in:	Proceedings of the 2005 National Technical Meeting of The Institute of Navigation January 24 - 26, 2005 The Catamaran Resort Hotel San Diego, CA
Pages:	270 - 275
Cite this article:	Zhang, Yufeng, Gao, Yang, "Performance Analysis of a Tightly Coupled Kalman Filter for the Integration of Un-differenced GPS and Inertial Data," Proceedings of the 2005 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2005, pp. 270-275.
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