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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40732

Title: Error analysis and stability investigation of integrated GPS/INS navigation systems
Authors: D.-J. Jwo;D.G. Tuckness Jr
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Date: 1996
Issue Date: 2017-02-06T06:51:54Z
Abstract: Abstract: Work on error signal analysis and stability investigation is currently being performed for the integrated GPS/INS navigation systems. This work is essentially based on the background of the GPS/INS integration techniques[2, 3, 7, 8, 12, 13, 15, 16, 18] and the receiver noise models[6, 10, 14, 17], coupled with the Kalman filter theory[1, 6, 9, 11]. The dynamics process model in the present work is a non-maneuvering, straight-and-level flight vehicle with constant velocity. One dimension coordinate space is employed and an assumption of stationary satellites is used for simplicity without loss of generality. Three architectures of open-loop, integrated systems will be discussed: tight integration with one measurement, tight integration with two measurements and loose integration. The loose integration studied here uses two measurements in the first filter (GPS filter) and only one measurement in the second filter (INS filter). Analytical filter solutions have been derived and further verified by numerical simulation for the error covariance of these three architectures. Covariance sensitivity due to the deviation of gains will be studied. Stability problem due to the INS aiding will be discussed and illustrated by several examples.
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40732
Appears in Collections:[通訊與導航工程學系] 演講及研討會

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