Real-time integration of a tactical-grade IMU and GPS for high-accuracy positioning and navigation

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dc.contributor.advisorLachapelle, Gérard
dc.contributor.authorPetovello, Mark G.
dc.date.accessioned2005-08-19T21:01:50Z
dc.date.available2005-08-19T21:01:50Z
dc.date.issued2003
dc.descriptionBibliography: p. 197-208en
dc.description.abstractThe integration of the Global Positioning System (GPS) and Inertial Navigation Systems (INSs) is often used to provide accurate positioning and navigation information. For applications requiring the highest accuracy, the quality of the inertial sensors required is usually assumed to be very high. This dissertation investigates the integration of GPS with a tactical-grade Inertial Measurement Unit (IMU) for centimetre-level navigation in real-time. Different GPS/INS integration strategies are investigated to assess their relative performance in terms of position and velocity accuracy during partial and complete data outages, carrier phase ambiguity resolution after such data outages, and the overall statistical reliability of the system. In terms of statistical reliability, the traditional equations used in dynamic systems are redeveloped in light of some practical considerations, including centralized and decentralized filter architectures, and sequential versus simultaneous measurement updating. Results show that the integrated solution outperforms the GPS-only approach in all areas. The difference between loose and tight integration strategies was most significant for ambiguity resolution and system reliability. The integrated solution is capable of providing decimetre-level accuracy or better for durations of about five or ten seconds when a complete or partial GPS outage is simulated. This level of accuracy, extended over longer time intervals, is shown to reduce the time required to resolve the 11 ambiguities by an average of about 50% or more for data outages as long as 30 seconds when using a tight integration strategy. More importantly, the reliability of the ambiguity resolution process is improved with the integrated system. Statistical reliability parameters are also dramatically better when using the integrated system with the ability of detecting a single-cycle cycle slip being better and more consistent, relative to GPS-only. The effect of undetected blunders on the final system is also significantly reduced. Two real-time tests are analyzed and results show that directly resolving the 11 ambiguities is still unreliable in suburban environments, even with the integrated system. However, using the widelane phase observable, sub-decimetre navigation is demonstrated in suburban and pseudo-urban environments, despite the relatively adverse operational conditions encountered.
dc.format.extentxxvii, 242 leaves : ill. ; 30 cm.en
dc.identifier.citationPetovello, M. G. (2003). Real-time integration of a tactical-grade IMU and GPS for high-accuracy positioning and navigation (Doctoral thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/23031en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/23031
dc.identifier.isbn0612870685en
dc.identifier.lccAC1 .T484 2003 P43en
dc.identifier.urihttp://hdl.handle.net/1880/42707
dc.language.isoeng
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.titleReal-time integration of a tactical-grade IMU and GPS for high-accuracy positioning and navigation
dc.typedoctoral thesis
thesis.degree.disciplineGeomatics Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameDoctor of Philosophy (PhD)
ucalgary.item.requestcopytrue
ucalgary.thesis.accessionTheses Collection 58.002:Box 1464 520708899
ucalgary.thesis.notesUARCen
ucalgary.thesis.uarcreleaseyen
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