IADIRA: Inertial Aided Deeply Integrated Receiver Architecture

P.F. da Silva, J.S. Silva, A. Caramagno, M. Wis, M. Eulalia Parès, I. Colomina, A. Fernández, J. Diez, V. Gabaglio

Abstract:	The Galileo Joint Undertaking 2nd Call, in the frame of the Research and Development activities related to the Galileo Programme, provides the ground to support research institutes and SME’s on key technological development. In this context, DEIMOS Engenharia and the Institut de Geomàtica are conducting the IADIRA study for improvements and further possibilities on hybridisation techniques. Previous Galileo Phases studies, such as Galilei, already identified the possibilities to integrate the future Galileo system with other systems and sensors, which might lead to a significant enhancement of its performance. It is well known that use of GNSS will be heavily dependent on sensor hybridisation, accurate digital maps and Local Elements. The innovative IADIRA project focuses in the field of inertial aiding, referring to the use of inertial-derived position and velocity for the improvement of the GNSS receiver tracking loops, interpolate GNSS trajectories for short periods, be it because of GNSS data gaps or just to interpolate between GNSS fixes. The main study objective is to explore the inertial aiding of the future Galileo or Galileo/GPS receivers as this aspect of the future Galileo technology has not yet been explored. More specifically, we present results of how MEMS Miniature Inertial Measurement Units can be seamless and transparently integrated into GNSS receiver antennas through an tightly coupled or deeply integrated architecture. To analyse and demonstrate the concept a test-bench is developed and the receiver is prototyped in a sample-based (bit-true) Galileo software receiver based on GRANADA receiver [1] coupled to the combined GNSS-Inertial software. Real or simulated IMU data provides the required inertial sensor measurements. Reference trajectories are obtained using navigation grade IMU and used to generate receiver Doppler profiles, providing a truth reference to measure the performance increase when using inertial aiding of IADIRA concept.
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:	2686 - 2694
Cite this article:	Silva, P.F. da, Silva, J.S., Caramagno, A., Wis, M., Parès, M. Eulalia, Colomina, I., Fernández, A., Diez, J., Gabaglio, V., "IADIRA: Inertial Aided Deeply Integrated Receiver Architecture," 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. 2686-2694.
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