GNSS/INS Integration
This chapter discusses the role of global navigation satellite systems (GNSS s) and inertial measurements in the estimation of the state vector for a maneuvering system. The chapter considers the main objectives of accuracy, continuity, availability, and
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GNSS/INS Inte 28. GNSS/INS Integration
Jay A. Farrell, Jan Wendel
28.1
State Estimation Objectives ..............
812
28.2 28.2.1 28.2.2 28.2.3 28.2.4 28.2.5
Inertial Navigation .......................... Problem Statement........................... Sensor Models.................................. INS Computations ............................. INS Error State .................................. Performance Characterization ............
813 813 813 813 814 814
28.3 28.3.1 28.3.2 28.3.3
Inertial Sensors ............................... Gyroscopes ...................................... Accelerometers................................. Inertial Sensor Errors ........................
815 815 816 816
Although global navigation satellite systems (GNSSs) are often referred to as positioning systems, when used in combination with inertial sensors, they have a much greater utility in helping to maintain the accuracy of the system state, which includes position, velocity, acceleration, attitude, and angular rate [28.1, Sect. 2.4]. These quantities are necessary in applications that in-
28.4 28.4.1 28.4.2 28.4.3 28.4.4
Strapdown Inertial Navigation.......... Coordinate Systems .......................... Attitude Calculations ........................ Velocity Calculations ......................... Position Calculations ........................
818 818 819 821 821
28.5 28.5.1 28.5.2
Analysis of Error Effects .................... Short-Term Effects ............................ Long-Term Effects.............................
822 822 823
28.6
Aided Navigation .............................
824
28.7
State Estimation ..............................
824
28.8 28.8.1 28.8.2 28.8.3 28.8.4
GNSS and Aided INS.......................... Loose (Position Domain) Coupling ...... Tight (Observable Domain) Coupling... Ultra-Tight or Deep Coupling ............. Illustrative Comparison .....................
825 825 826 826 828
28.9 28.9.1 28.9.2
Detailed Example ............................ System Model .................................. Measurement Models .......................
828 828 831
28.10 Alternative Estimation Methods........ 28.10.1 Standalone GNSS .............................. 28.10.2 Advanced Bayesian Estimation ..........
835 835 837
28.11
Looking Forward .............................
838
References...................................................
839
volve safety augmentation, control, or trajectory or mission planning. In addition, a navigation system that maintains the system state can have improved performance, perhaps coasting through short durations while GNSS signals are not available. These concepts are discussed in greater detail in the following subsections.
Part E | 28
This chapter discusses the role of global navigation satellite systems (GNSSs) and inertial measurements in the estimation of the state vector for a maneuvering system. The chapter considers the main objectives of accuracy, continuity, availability, and integrity; and, the contributions that the different types of sensors mak
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