A Deeply Coupled GPS/INS Integrated Kalman Filter Design Using a Linearized Correlator Output

Jeong Won Kim, Dong-Hwan Hwang and Sang Jeong Lee

Abstract:	GPS/INS integration systems can be classified into loosely coupled, tightly coupled, and deeply coupled method. The deeply coupled method is known to give the best performance on signal tracking and anti-jamming capability. Since the I and Q measurements, which are measurements of the GPS receiver in the deeply coupled method, are nonlinear functions of the carrier frequency, carrier phase and code phase, the function should be linearized in order to use it in the extended Kalman filter of the integration system. In this paper, a Kalman filter design using a linearized correlator output for the deeply coupled GPS/INS integration system is proposed. Before the linearization equation is derived, the I and Q measurements were expressed in position error and velocity error. The effectiveness of the Kalman filter was shown through computer simulations.
Published in:	Proceedings of IEEE/ION PLANS 2006 April 25 - 27, 2006 Loews Coronado Resort Hotel San Diego, CA
Pages:	300 - 305
Cite this article:	Kim, Jeong Won, Hwang, Dong-Hwan, Lee, Sang Jeong, "A Deeply Coupled GPS/INS Integrated Kalman Filter Design Using a Linearized Correlator Output," Proceedings of IEEE/ION PLANS 2006, San Diego, CA, April 2006, pp. 300-305. https://doi.org/10.1109/PLANS.2006.1650616
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