Hostname: page-component-8448b6f56d-jr42d Total loading time: 0 Render date: 2024-04-19T15:34:28.326Z Has data issue: false hasContentIssue false
  • English
  • Français

Receiver Interface Requirements for Deep INS/GNSS Integration and Vector Tracking

Published online by Cambridge University Press:  28 May 2010

Paul D Groves  and
Christopher J Mather
Paul D Groves*
Affiliation:
(QinetiQ ltd, Farnborough, UK)
Christopher J Mather*
Affiliation:
(QinetiQ ltd, Farnborough, UK)
*
(Email: p.groves@ucl.ac.uk)
(Email: cmather@qinetiq.com)
Get access Rights & Permissions [Opens in a new window]

Abstract

Vector tracking of global navigation satellite systems (GNSS) signals and deeply integrating GNSS with an inertial navigation system (INS) improve robustness and accuracy in poor GNSS signal-to-noise environments. Both require a dedicated interface between the GNSS receiver and the navigation processor to enable the GNSS receiver to output the correlator measurements and input numerically-controlled oscillator (NCO) commands. This paper investigates the requirements for such an interface. Data latency is analysed for a range of different stand-alone GNSS vector tracking and deep INS/GNSS integration architectures. Suitable latency compensation techniques are identified. It is shown that, for the majority of applications, an NCO command update rate of 50 Hz with latency compensation and 100 Hz without is sufficient. An approach to interface standardisation which can handle a wide range of different GNSS signals and receiver designs is proposed.

Keywords

GNSSINSDeep INS/GNSS integrationVector trackingData Latency
Type
Research Article
Information
The Journal of Navigation , Volume 63 , Issue 3 , July 2010 , pp. 471 - 489
Copyright
Copyright © The Royal Institute of Navigation 2010

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

[1]Misra, P. and Enge, P., Global Positioning System: Signals, Measurements, and Performance, 2nd edition, Ganga-Jamuna Press, 2006.Google Scholar
[2]Van Dierendonck, A. J., “GPS Receivers,” In Global Positioning System: Theory and Applications Volume I, pp. 329–407, Parkinson, B. W. and Spilker, J. J. (eds), AIAA, 1996.Google Scholar
[3]Groves, P. D., Principles of GNSS, Inertial and Multi-Sensor Integrated Navigation Systems, Artech House, January 2008.Google Scholar
[4]Bullock, J. B. et al. , “Integration of GPS with Other Sensors and Network Assistance,” In Understanding GPS Principles and Applications, Second Edition, pp. 459–558, Kaplan, E. D. and Hegarty, C. J. (eds), Norwood, MA: Artech House, 2006.Google Scholar
[5]Spilker, J J Jr, Vector Delay Lock Loop Processing of Radiolocation Transmitter Signals, U. S. Patent 5,398,034, 1995.Google Scholar
[6]Pany, T and Eissfeller, B, “Use of a Vector Delay Lock Loop Receiver for GNSS Signal Power Analysis in Bad Signal Conditions,” Proc. IEEE/ION PLANS, April 2006.Google Scholar
[7]Kiesel, S, Held, M H and Trommer, G F, “Realization of a Deeply Coupled GPS/INS Navigation System Based on INS-VDLL Integration,” Proc. ION National Technical Meeting, January 2007.Google Scholar
[8]Sennott, J and Senffner, D, “A GPS Carrier Phase Processor for Real-Time High Dynamics Tracking,” Proc. ION 53rd Annual Meeting, June 1997.Google Scholar
[9]Titterton, D H and Weston, J L, Strapdown Inertial Navigation Technology, 2nd edition, IEE, 2004.Google Scholar
[10]Gebre-Egziabher, D., “What is the difference between ‘loose’, ‘tight’, ‘ultra-tight’ and ‘deep’ integration strategies for INS and GNSS?” Inside GNSS magazine, Jan/ Feb 2007.Google Scholar
[11]Schmidt, G. and Phillips, R. (“INS/GPS Integration Architectures,” Low-Cost Navigation Sensors and Integration Technology, NATO RTO Lecture Series, October 2008 (original version published in 1996).Google Scholar
[12]Groves, P. D., Mather, C. J., and Macaulay, A. A., “Demonstration of non-coherent deep INS/GPS integration for optimized signal to noise performance,” Proc. ION GNSS 2007, Fort Worth, TX, September 2007.Google Scholar
[13]Buck, T. M., Wilmore, J. and Cook, M. J., “A High G, MEMS Based, Deeply Integrated, INS/GPS, Guidance, Navigation and Control Flight Management Unit,” Proc. IEEE/ION PLANS, April 2006.Google Scholar
[14]Soloviev, A., van Graas, F. and Gunawardena, S., “Implementation of Deeply Integrated GPS/Low-Cost IMU for Reacquisition and Tracking of Low CNR GPS Signals,” Proc. ION NTM, January 2004.Google Scholar
[15]Hodgart, M. S., Blunt, P. D. and Unwin, M., “The Optimal Dual Estimate Solution for Robust Tracking of Binary Offset Carrier (BOC) Modulation,” Proc. ION GNSS 2007, Fort Worth, TX, September 2007, pp. 1017–1027.Google Scholar