7_Integrated Navigation.pptVIP

Chapter 7Integration of GPS with Other Sensors Introduction Inertial Navigation Vehicle Kinematics Models in ITS Algorithm — Kalman Filter Examples GPS navigation with database. GPS/Inertial Navigation GPS receiver can be thought of as discrete-time position/velocity sensors with sampling intervals of about 1 sec. The impetus for integrating GPS with various additional sensors, reasons: The need to provide continuous navigation between the update periods of the GPS receiver During periods of shading of GPS receiver’s antenna. Through periods of interference. Sensors The most popular are initial sensors. Gyroscopes Accelerometers Doppler-meters Doppler velocity/altimeter Altimeters Speedometers odometers Wheeled vehicle model define Two-wheel steerable vehicle kinematics model Simulation Results GPSI Integration Methods Integration of GPS and inertial navigation systems. Loosely integrated GPSI system Tightly integration Loosely Integrated GPSI system This configuration included: GPS receiver with an 8-state Kalman filter IMU Inertial Measurement Unit Navigation processor that contains a 15-18 state Kalman filter. Navigation equation to convert the Dq’s and Dv’s from the IMU to platform attitude, position and velocity. This method was used in many initial applications. Loosely Integrated GPSI system Loosely Integrated GPSI system This system has a feed forward loop from navigation processor and two separate filters that open the possibility of instability caused by mutual feedback. Mission scenarios for this configuration must be thoroughly simulated to ensure the stability of the filter. In situations where instability occurs, the gains in the filter are reduced, which may result in sluggish system operation. Tightly Integrated GPSI system Today, most integrations are tightly integrated. This configuration is also referred to as tightly coupled. In this system, the Kalman filter in the GPS receiver is eliminated and pseudorange and pseudorange-rate data fro