Development of Precise GPS/INS/Wheel Speed Sensor/Yaw Rate Sensor Integrated Vehicular Positioning System

J. Gao, M.G. Petovello, and M.E. Cannon

Abstract: This paper aims to develop a more precise vehicular positioning system during GPS outages by integrating GPS, a tactical grade HG1700 IMU, as well as Wheel Speed Sensor and a Yaw Rate Sensor. Using a tight coupling strategy, three types of sensor integration schemes are proposed, namely GPS/INS/Wheel Speed Sensor, GPS/INS/Yaw Rate Sensor and GPS/INS/Yaw Rate Sensor/Wheel Speed Sensor. The models for each of the schemes are discussed in detail including the sensor error models. The benefits after integrating the Wheel Speed Sensor and the Yaw Rate Sensor are investigated in terms of positioning accuracy during GPS data outages. Furthermore, the reduction in the time to fix the carrier phase ambiguities after various GPS outage durations is analyzed.
Published in: Proceedings of the 2006 National Technical Meeting of The Institute of Navigation
January 18 - 20, 2006
Hyatt Regency Hotel
Monterey, CA
Pages: 780 - 792
Cite this article: Gao, J., Petovello, M.G., Cannon, M.E., "Development of Precise GPS/INS/Wheel Speed Sensor/Yaw Rate Sensor Integrated Vehicular Positioning System," Proceedings of the 2006 National Technical Meeting of The Institute of Navigation, Monterey, CA, January 2006, pp. 780-792.
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