Augmenting Low-cost GPS/INS with Ultra-wideband Transceivers for Multi-platform Relative Navigation

A. Vydhyanathan, H. Luinge, M. Tanigawa, F. Dijkstra, M.S. Braasch, M. Uijt de Haag

Abstract:	This paper explores the use of impulse radio based Ultrawideband transceivers, an active sensor to augment the low-cost GPS/INS navigation estimates in GPSchallenged/ denied environments for multi-platform relative navigation. The sensor fusion algorithm developed employs a centralized Extended Kalman filter which utilizes GPS position and velocity estimates, barometric altimeter and UWB range measurements to aid the inertial sensors. Experiment results show robust performance of the algorithm under GPS denied environments with horizontal position accuracy of 0.5m. A tactical grade IMU was used as a reference.
Published in:	Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009) September 22 - 25, 2009 Savannah International Convention Center Savannah, GA
Pages:	547 - 554
Cite this article:	Vydhyanathan, A., Luinge, H., Tanigawa, M., Dijkstra, F., Braasch, M.S., de Haag, M. Uijt, "Augmenting Low-cost GPS/INS with Ultra-wideband Transceivers for Multi-platform Relative Navigation," Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp. 547-554.
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