Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Performance Evaluation by Measurement Combination of Loosely Coupled GPS/INS Integration

Version 1 : Received: 12 December 2020 / Approved: 14 December 2020 / Online: 14 December 2020 (13:30:13 CET)

How to cite: Lee, D. Performance Evaluation by Measurement Combination of Loosely Coupled GPS/INS Integration. Preprints 2020, 2020120338 (doi: 10.20944/preprints202012.0338.v1). Lee, D. Performance Evaluation by Measurement Combination of Loosely Coupled GPS/INS Integration. Preprints 2020, 2020120338 (doi: 10.20944/preprints202012.0338.v1).

Abstract

This paper presents an extended Kalman filter derivation for loosely coupled GPS (Global Positioning System)/INS (Inertial Navigation System) integration based on quaternion attitude representation using the Earth-Centered Earth (ECEF) Frame. In this loosely coupling integration, both the position and velocity estimates from GPS receiver are used as the measurements to extended Kalman filter, and then they are integrated with inertial measurements from inertial measurement units (IMU) to estimate the attitude, position and velocity of an air vehicle. The velocity estimates which have centimeter level estimation error from the GPS receiver are used to improve the filter performance. For attitude estimation, the global attitude parameterization is given by a quaternion and a multiplicative quaternion-error approach is used to guarantee a normalization constraint of quaternion in the filter. Simulation results are shown to obtain the estimation of the attitude, position, velocity, biases and scale factors and to evaluate the performance of the EKF with the measurement combination composed of the two different t

Subject Areas

Earth-Centered Earth-Fixed Frame; multiplicative quaternion-error approach; GPS navigation solutions; extended Kalman filter

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