On Attitude Bias Compensation in GPS/DR System for Land Vehicle Applications

Bishnu P. Phuyal

Abstract:	"A 2D position determination system used for land application consists of a GPS receiver, a gyroscope to measure angular rate and an accelerometer or an odometer to measure linear displacement. Apart from different measurement errors in such system, the non-parallelism of gyroscope axis with the vertical, error in specified gyroscope scale factor and vehicle tilt at turns are additional errors. These small effects are ignored in 2D calculation. Combined effect of these errors is identical to scale factor error and introduces bias in the heading angle calculation and then to the positions. This scale factor error value need to be determined accurately so that the error growth in heading and position can be checked. A new method to determine this value is described here. This method is simple and can be easily implemented. The scale factor value obtained from using the method and the real data from high precision GPS and INS system are shown to illustrate the simplicity and effectiveness of the method. Using the value obtained from this method will make the simple 2D calculation model theoretically correct and hence should improve the quality of the 2D calculation."
Published in:	Proceedings of the 61st Annual Meeting of The Institute of Navigation (2005) June 27 - 29, 2005 Royal Sonesta Hotel Cambridge, MA
Pages:	1137 - 1140
Cite this article:	Phuyal, Bishnu P., "On Attitude Bias Compensation in GPS/DR System for Land Vehicle Applications," Proceedings of the 61st Annual Meeting of The Institute of Navigation (2005), Cambridge, MA, June 2005, pp. 1137-1140.
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