Time-Differenced Carrier Phase Measurements for Tightly Coupled GPS-INS Integration.pdfVIP

Time-Differenced Carrier Phase Measurements for Tightly Coupled GPS/INS Integration J. Wendel, O. Meister, R. M¨onikes, and G.F. Trommer Institute of Theory and Systems Optimization in Electrical Engineering University of Karlsruhe (TH) Karlsruhe, Germany Abstract— A tightly coupled GPS/INS system is characterized This assures a limited aiding in case of less than four satellites by the fact that pseudorange and deltarange measurements in view, at the cost of an increased integration effort. However, are processed in the navigation filter in order to estimate the due to this ability to use the available GPS information to full errors of the inertial navigation solution and to calibrate the inertial measurement unit. In this paper, the usage of time capacity, tightly coupled systems have proven to be clearly differenced carrier phase measurements instead of the delta superior to loosely coupled systems. range measurements is proposed. Usually, DGPS corrections are required in order to exploit the high accuracy of the carrier phase measurements by removing the common mode errors like In this paper, a modification of the tightly coupled inte- ionospheric errors, ephemeris errors, or satellite clock errors. gration strategy is proposed. Instead of processing deltarange Then, techniques like carrier aided smoothing or ambiguity fixing measurements, time-differenced carrier phase measurements can be applied. With the approach described in this paper, DGPS are used. Usually, carrier phase measurements are used in con- corrections are not required. Additionally, a fixing of the integer ambiguities, which is especially difficult when a single fr