Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Observability Analysis of INS with a GPS Multi-Antenna System

  • Sinpyo Hong (School of Mechanical Engineering, Pusan National University) ;
  • Lee, Man-Hyung (School of Mechanical Engineering, Pusan National University) ;
  • Jose A. Rios (Mechanical and Aerospace Engineering Department, University of California) ;
  • Jason L. Speyer (Mechanical and Aerospace Engineering Department, University of California)
  • Published : 2002.11.01
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Abstract

This paper investigates observability properties of strapdown INS aided by a GPS antenna array. The motivation to consider a GPS antenna array is that the lever-arms between the GPS antennas and IMU play an important role in the estimation of vehicle attitude and biases of IMU. It is shown that time-invariant INS error models are observable with measurements from at least three GPS antennas. It is also shown that time-varying error models are instantaneously observable with measurements from three antennas. Numerical simulation results are given to show the effectiveness of multiple GPS antennas on estimating vehicle attitude and biases of IMU when IMU has considerable magnitude of biases.

Keywords

References

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