Advanced SearchSearch Tips
Attitude Determination GPS/INS Integration System Design Using Triple Difference Technique
facebook(new window)  Pirnt(new window) E-mail(new window) Excel Download
 Title & Authors
Attitude Determination GPS/INS Integration System Design Using Triple Difference Technique
Oh, Sang-Heon; Hwang, Dong-Hwan; Park, Chan-Sik; Lee, Sang-Jeong;
  PDF(new window)
GPS attitude outputs or carrier phase observables can be effectively utilized to compensate the attitude error of the strapdown inertial navigation system. However, when the integer ambiguity is not correctly resolved and/or a cycle slip occurs, an erroneous GPS output can be obtained. If the erroneous GPS output is applied to the attitude determination GPS/INS (ADGPS/INS) integrated navigation system, the performance of the system can be degraded. This paper proposes an ADGPS/INS integration system using the triple difference carrier phase observables. The proposed integration system contains a cycle slip detection algorithm, in which the inertial information is combined. Computer simulations and flight test were performed to verify effectiveness of the proposed navigation system. Results show that the proposed system gives an accurate and reliable navigation solution even when the integer ambiguity is not correctly resolved and the cycle slip occurs.
Attitude determination;GPS;INS;Triple difference;
 Cited by
EKF/UPF필터 변환을 통한 Multi-GPS/INS 융합 시스템의 실외 위치추정,최승환;김기정;김윤기;이장명;

제어로봇시스템학회논문지, 2014. vol.20. 12, pp.1284-1289 crossref(new window)
컨테이너 위치 추적에 활용되는 GPS/GLONASS 안테나 설계 및 성능 검증,이은규;최성필;문영식;김재중;최형림;

한국정보통신학회논문지, 2013. vol.17. 7, pp.1544-1550 crossref(new window)
다중 GPS를 이용한 EKF 기반의 실외 위치 추정 시스템,최승환;김윤기;황요섭;김현우;이장명;

로봇학회논문지, 2013. vol.8. 2, pp.129-135 crossref(new window)
Outdoor Positioning Estimation of Multi-GPS / INS Integrated System by EKF / UPF Filter Conversion, Journal of Institute of Control, Robotics and Systems, 2014, 20, 12, 1284  crossref(new windwow)
EKF Based Outdoor Positioning System using Multiple GPS Receivers, The Journal of Korea Robotics Society, 2013, 8, 2, 129  crossref(new windwow)
Design and Performance Evaluation for GPS/GLONASS Antenna used for Container tracking, The Journal of the Korean Institute of Information and Communication Engineering, 2013, 17, 7, 1544  crossref(new windwow)
C. E. Cohen, B. W. Parkinson, "Expanding the Performance Envelope of GPS-based Attitude Determination," in Proceedings of the ION GPS-91, pp 1001-1012, Albuquerque, NM, 1991.

C. Park, I. Kim, J. G. Lee., G. I. Jee, "Efficient Ambiguity Resolution with Constraints Equation," in Proceedings of IEEE PLANS'96, Atlanta, GO. 1996.

J. Evans, S. Houck, G. McNutt, B. Parkinson, "Integration of a 40 Channel GPS Receiver for Automatic Control Into an Unmanned Airplane," in Proceedings of the ION GPS-98, pp 1173-1180, Nashville, TN, 1998.

R. Wolf, G. W. Hein, B. Eissfeller, E. Loehnert, "An Integrated Low Cost GPS/INS Attitude Determination and Position Location System," in Proceedings of the ION GPS-96, pp 975-981, Kansas City, MO, 1996.

H. C. Gelderloos, S. I. Sheikh, B. W. Schipper, "GPS Attitude System Integrated with an Inertial System for Space Applications," in Proceedings of the Digital Avionics Systems Conference, 16th DASC., AIAA/IEEE, vol 2: 8.1-1-8.1-10, 1997.

D. Gebre-Egziabher, D. R. Hayward, C. D. Powell CD, "A Low-cost GPS/Inertial Attitude Heading Reference System (AHRS) for General Aviation Applications," in Proceedings of the IEEE PLANS'98, pp 518-525, 1998.

A. Leick, GPS Satellite Surveying, 2nd edn.:John Wiley & Sons, Inc., New York, 1995.

B. Hofmann-Wellenhof, H. Lichtenegger, J. Collins, Global Positioning System: Theory and Practice, 2nd edn.: Springer-Verlag, Wien, 1992.

C. Park, Attitude Determination from GPS Carrier Phase Measurements: Ph.D. Thesis: Seoul National University, February. 1997.

J. Wendel, O. Meister, R. Monikes, G. F. Trommer, "Time-Differenced Carrier Phase Measurements for Tightly Coupled GPS/INS Integration," Proceedings of IEEE/ION PLANS 2006, Apr. 25 - 27, 2006.

B. K. H. Soon, S. Scheding, H.-K. Lee, H.-K. Lee, H Durrant-Whyte, "An approach to aid INS using timedifferenced GPS carrier phase (TDCP) measurements," GPS Solutions, Vol. 4, No. 4, 2008.

F. V. Graas, S.-W. Lee, "High-accuracy Differential Positioning for Satellite-based Systems without using Code-phase Measurements," Journal of the Institute of Navigation, vol. 4, no. 4, pp. 605-618, 1995.

M. Martin-Neira, R. Lucas, M. A. Martinez, "Attitude Determination with GPS: Experimental Results," IEEE AES Magazine, pp. 24-29. 1990.

M. Martin-Neira, R. Lucas, "GPS Attitude Determination of Spin Stabilized Satellites," Proceedings of the Institute of Navigation GPS-92, Sept. 1992.

I. Nesbo, P. Canter, "GPS Attitude Determination for Navigation," GPS World, 1990.

F. V. Grass, M. Brash, "GPS Interferometric Attitude and Heading determination: Initial Flight Test Results," Navigation: Journal of the ION, Vol. 38, No. 4, 1992.

J.-C. Juang, G.-S. Huang, "Development of GPSBased Attitude Determination Algorithms," IEEE Trans. on AES. Vol. 33, No. 3, July 1997.

T. S. Bruggemann, GPS L1 Carrier Phase Navigation Processing: Master Thesis: Queensland University of Technology, 2005.

S. H. Oh, D.-H. Hwang, S. J. Lee, "An Efficient Integration Scheme for the INS and the Attitude Determination GPS Receiver," in Proceedings of ION 57th Annual Meeting, , pp. 334-340, Albuquerque, NM, 2001.

C. Altmayer, "Cycle Slip Detection and Correction by Means of Integrated System," in Proceedings of the 2000 National Technical Meeting, pp. 134-144, Anaheim, CA, 2000.

D. Goshen-Meskin, I. Y. Bar-Itzhack, "Unified Approach to Inertial Navigation System Error Modeling," Journal of Guidance, Control, and Dynamics, vo1. 15, no. 3, pp. 648-653, 1992. crossref(new window)

GPSoft, Satellite Navigation Toolbox User Guide: GPSoft LLC., Athens, OH, 1997.

G. Strang, K. Borre, Linear Algebra, Geodesy, and GPS: Wellesley-Cambridge Press, Wellesley, MA, 1997.

D Wells, Guide to GPS Positioning: Canadian GPS Associates, 1987.

P. S. Maybeck, Stochastic Models, Estimation and Control: Academic Press, New York, 1979.

O. L. Colombo, U. V. Bhapkar, A. G. Evans, "Inertial aided Cycle-slip Detection/Correction for Precise, Long-baseline Kinematic GPS," in Proceedings of the ION GPS-99, pp. 1915-1922, Nashville, TN, 1992.