Performance comparison of single and dual frequency closely coupled GPS/INS relative positioning systems. Martin, S., Travis, W., & Bevly, D. In IEEE/ION Position, Location and Navigation Symposium, pages 544–551, May, 2010. ISSN: 2153-3598![Performance comparison of single and dual frequency closely coupled GPS/INS relative positioning systems [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper doi abstract bibtex Single and dual frequency closely coupled GPS/INS relative positioning systems have been developed for use in automated ground vehicle convoys. The accuracy of the GPS carrier phase measurement is exploited to produce a high precision relative position vector between vehicles. The inertial systems of the lead vehicle and following vehicle are aligned using closely coupled GPS/INS filters on each vehicle and are used to output a high rate solution. Previous comparative studies focus on relative positioning with a fixed base station or are proprietary studies with limited discloser. The relative navigation solution presented here is referenced to a moving base station. Moving base stations in relative navigation problems have been addressed previously for airborne systems including automated air refueling and ship board landing systems. However, automated ground vehicles offer unique challenges due to the operational environment. Multipath, signal blockage, and cycle slip are more prevalent in ground applications. Testing was performed offline using data collected from two vehicles operating in various environments. Performance was evaluated based on accuracy, time to integer ambiguity reacquisition after a GPS outage and robustness of the navigation solution to faulty measurements. Pseudorange measurements are corrupted with additive noise to evaluate fault detection capabilities.
@inproceedings{martin_performance_2010,
title = {Performance comparison of single and dual frequency closely coupled {GPS}/{INS} relative positioning systems},
url = {https://ieeexplore.ieee.org/document/5507307/;jsessionid=A457B53073616D615FFB8A3F5EDBD9B8},
doi = {10.1109/PLANS.2010.5507307},
abstract = {Single and dual frequency closely coupled GPS/INS relative positioning systems have been developed for use in automated ground vehicle convoys. The accuracy of the GPS carrier phase measurement is exploited to produce a high precision relative position vector between vehicles. The inertial systems of the lead vehicle and following vehicle are aligned using closely coupled GPS/INS filters on each vehicle and are used to output a high rate solution. Previous comparative studies focus on relative positioning with a fixed base station or are proprietary studies with limited discloser. The relative navigation solution presented here is referenced to a moving base station. Moving base stations in relative navigation problems have been addressed previously for airborne systems including automated air refueling and ship board landing systems. However, automated ground vehicles offer unique challenges due to the operational environment. Multipath, signal blockage, and cycle slip are more prevalent in ground applications. Testing was performed offline using data collected from two vehicles operating in various environments. Performance was evaluated based on accuracy, time to integer ambiguity reacquisition after a GPS outage and robustness of the navigation solution to faulty measurements. Pseudorange measurements are corrupted with additive noise to evaluate fault detection capabilities.},
urldate = {2024-06-20},
booktitle = {{IEEE}/{ION} {Position}, {Location} and {Navigation} {Symposium}},
author = {Martin, Scott and Travis, William and Bevly, David},
month = may,
year = {2010},
note = {ISSN: 2153-3598},
keywords = {Base stations, DGPS, Frequency, Global Positioning System, Land vehicles, Navigation, Phase measurement, Remotely operated vehicles, Satellites, Vehicle driving, Vehicle dynamics, autonomous convoys, relative navigation},
pages = {544--551},
}
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Previous comparative studies focus on relative positioning with a fixed base station or are proprietary studies with limited discloser. The relative navigation solution presented here is referenced to a moving base station. Moving base stations in relative navigation problems have been addressed previously for airborne systems including automated air refueling and ship board landing systems. However, automated ground vehicles offer unique challenges due to the operational environment. Multipath, signal blockage, and cycle slip are more prevalent in ground applications. Testing was performed offline using data collected from two vehicles operating in various environments. Performance was evaluated based on accuracy, time to integer ambiguity reacquisition after a GPS outage and robustness of the navigation solution to faulty measurements. 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