An approach to aid INS using time-differenced GPS carrier phase (TDCP) measurements |
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| Authors: | Ben K H Soon Steve Scheding Hyung-Kuen Lee Hung-Kyu Lee Hugh Durrant-Whyte |
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| Institution: | (1) ARC Centre of Excellence for Autonomous Systems (CAS), Australian Center for Field Robotics (ACFR), The University of Sydney, Sydney, Australia;(2) School of Electronics, Telecommunication and Computer Engineering, Hankuk Aviation University, Goyangsi, South Korea;(3) Department of Civil Engineering, Changwon National University, Changwon, South Korea |
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| Abstract: | This paper presents a simple and effective approach that incorporates single-frequency, L1 time-differenced GPS carrier phase
(TDCP) measurements without the need of ambiguity resolution techniques and the complexity to accommodate the delayed-state
terms. Static trial results are included to illustrate the stochastic characteristics and effectiveness of the TDCP measurements
in controlling position error growth. The formulation of the TDCP observation model is also described in a 17-state tightly-coupled
GPS/INS iterative, extended Kalman filter (IEKF) approach. Preliminary land vehicle trial results are also presented to illustrate
the effectiveness of the TDCP which provides sub-meter positional accuracies when operating for more than 10 min. |
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| Keywords: | INS TDCP Iterative extended Kalman filter Tightly-coupled |
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