Theory and Test Results of Antenna Advanced Inertial Reference for Enhanced Sensors (ANTARES) Lever Arm Flexure Estimation and Compensation for Ultra-Tightly Coupled GPS-INS and RF Emitter Geo-Location Systems Using Auxiliary Antenna-Mounted Inertial

P. Quinn, D. Lewis, M. Berarducci, M. Miller, J. Campbell, P. Howe

Abstract:	Body flexure, between an aerospace vehicle’s primary inertial navigation system (INS) and a GPS antenna or other antenna, can introduce errors into an Ultra-Tightly-Coupled (UTC) GPS navigation Kalman filter, or radio frequency emitter-geolocation estimator. Results are presented from laboratory and field tests of the Raytheon ANTenna Advanced inertial reference for Enhanced Sensors (ANTARES) antenna lever arm flexure sensing and compensation system for aerospace vehicles. ANTARES exploits motion data from an auxiliary inertial measurement unit (IMU) located at each antenna for aerospace vehicle sensor systems of interest. Emphasis is placed on restoration of GPS ultra-tightly-coupled with a master INS navigation performance in a jamming environment, and on precision RF emitter geolocation measurement collection, without jamming, both in the presence of adverse antenna lever arm flexure. Theory of lever arm flexure estimation is summarized. An apparatus constructed for controlled flexure motion, constrained to a single degree of freedom, having precise measurement of the actual flexure motion and time of validity is also presented.
Published in:	Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006) September 26 - 29, 2006 Fort Worth Convention Center Fort Worth, TX
Pages:	157 - 167
Cite this article:	Quinn, P., Lewis, D., Berarducci, M., Miller, M., Campbell, J., Howe, P., "Theory and Test Results of Antenna Advanced Inertial Reference for Enhanced Sensors (ANTARES) Lever Arm Flexure Estimation and Compensation for Ultra-Tightly Coupled GPS-INS and RF Emitter Geo-Location Systems Using Auxiliary Antenna-Mounted Inertial," Proceedings of the 19th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2006), Fort Worth, TX, September 2006, pp. 157-167.
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