Real-Time Implementation of a Deeply Integrated GNSS-INS Architecture

Aleksandar Jovancevic and Suman Ganguly

Abstract:	Deeply Integrated GNSS-INS systems offer several advantages in terms of high-precision navigation in the presence of high-dynamics and high-jamming environments. The systems move away from the traditional GNSS receivers in the use of all the available satellites for tracking and positioning through a composite filter. The paper seeks to highlight the performance of a real time software receiver that incorporates this functionality. The use of a software-reconfigurable receiver enables the receiver to dynamically respond to changing scenarios i.e. the presence of a jammer or high G conditions. In this manner continuous tracking of the satellites is assured with precise navigation capabilities. The tests are carried out using a CRS GNSS Signal Simulator to generate the trajectories and signal dynamics. For a low dynamics environment a GNSS only Deeply Integrated receiver is sufficient and several results indicating the performance of this setup are provided. However for high-dynamic environments an INS is incorporated to aid the GPS measurements. When the GPS is coupled with an INS in this configuration the tracking loop bandwidths can be reduced since the receiver only tracks the errors in the aiding information rather than the absolute motion itself. The inertial measurement unit (IMU) model incorporated can be changed to evaluate the performance of different grades of IMU in the GNSS -INS system. It is seen that due to the nature of the coupling, the use of lower grade IMU do not significantly affect the performance of the system under high dynamics. The performance of the system in the presence of high dynamics is tested using the trajectory of a centrifuge with final levels of acceleration reaching over 200G. Different configurations are tested to develop parametric estimates of the performance of differing systems specifications depending upon the specific application.
Published in:	Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005) September 13 - 16, 2005 Long Beach Convention Center Long Beach, CA
Pages:	503 - 511
Cite this article:	Jovancevic, Aleksandar, Ganguly, Suman, "Real-Time Implementation of a Deeply Integrated GNSS-INS Architecture," Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005), Long Beach, CA, September 2005, pp. 503-511.
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