INS/GPS Deep Integration Navigation Hardware Testbed

Karl Flueckiger, Don Gustafson, and John Dowdle

Abstract:	"Draper Laboratory has developed a capability for executing INS/GPS Deep Integration algorithms using both SPS-only (Standard Positioning Service) and PPSenabled (Precise Positioning Service) GPS receivers. This capability is embodied in hardware-in-the-loop simulation testbeds, which were designed and assembled for exercising and analyzing the performance benefits of advanced integrated INS/GPS algorithms. This paper briefly paper describes the benefits of INS/GPS Deep Integration relative to traditional tightly-coupled techniques as demonstrated using hardware-in-the-loop simulation testbeds. Detailed quantification of hardware results specifying the jamming immunity offered by Deep Integration for specific mission scenarios will not be presented here. The focus of this paper is the development and test methodology provided by softwareonly and hardware-in-the-loop simulation configurations developed by Draper. INS/GPS Deep Integration replaces the GPS receiverÕs traditional tracking loop functions with a centralized architecture. Data from auxiliary sensors, such as delta velocity and delta angle from inertial instruments, and the I (in phase) and Q (quadrature phase) information from the receiverÕs correlator bank are used directly in navigation filter processing, which calculates position, velocity, attitude, and time estimates and provides feedback to the receiverÕs numerically controller oscillators (NCOs). The navigation filter gains continuously adapt to changes in the observed jamming environment, and the filterÕs error covariance propagation is driven directly by measurements to enhance robustness under high jamming conditions. Deep Integration development and performance evaluation were provided by hardware-in-the-loop simulation configurations, where tracking of both C/A and P codes were demonstrated using this technique. Deep Integration was shown to enable navigation in the presence of significant broadband jamming."
Published in:	Proceedings of the 61st Annual Meeting of The Institute of Navigation (2005) June 27 - 29, 2005 Royal Sonesta Hotel Cambridge, MA
Pages:	1171 - 1178
Cite this article:	Flueckiger, Karl, Gustafson, Don, Dowdle, John, "INS/GPS Deep Integration Navigation Hardware Testbed," Proceedings of the 61st Annual Meeting of The Institute of Navigation (2005), Cambridge, MA, June 2005, pp. 1171-1178.
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