An investigation of airborne GPS/INS for high accuracy position and velocity determination
- Calgary Univ., AB (Canada). Dept. of Geomatics Engineering
- Sandia National Labs., Albuquerque, NM (United States)
An airborne test using a differential GPS-INS system in a Twin Otter was conducted by Sandia National Laboratories to assess the feasibility of using the integrated system for cm-level position and cm/s velocity. The INS is a miniaturized ring-laser gyro IMU jointly developed by Sandia and Honeywell while the GPS system consists of the NovAtel GPSCard{trademark}. INS position, velocity and attitude data were computed using Sandia`s SANDAC flight computer system and logged at 4 Hz and GPS data was acquired at a 1 Hz rate. The mission was approximately 2.5 hours in duration and the aircraft reached separations of up to 19 km from the base station. The data was post-processed using a centralized Kalman filter approach in which the double differenced carrier phase measurements are used to update the INS data. The INS position is in turn used to detect and correct GPS carrier phase cycle slips and also to bridge GPS outages. Results are presented for the GPS-only case and also for integrated GPS/INS.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 10120509
- Report Number(s):
- SAND-93-2413C; CONF-940158-1; ON: DE94006139; BR: GB0103012
- Resource Relation:
- Conference: Institute of Navigation national technical meeting,San Diego, CA (United States),24-26 Jan 1994; Other Information: PBD: [1993]
- Country of Publication:
- United States
- Language:
- English
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