INS/GPS for High-Dynamic UAV-Based Applications. (8th December 2012)

• Record Type: Journal Article
• Authors: Zhou, Junchuan; Knedlik, Stefan; Loffeld, Otmar
• Other Names: Melgani Farid Academic Editor.
• Is Part Of: International journal of navigation and observation. Volume 2012(2012)
• Publication Date: 2012-12-08
• Subjects: Navigation -- Periodicals; Remote sensing -- Periodicals; Geographic information systems -- Periodicals; Global Positioning System -- Periodicals; Earth sciences -- Periodicals; Environmental monitoring -- Periodicals; Navigation; Télédétection; Systèmes d'information géographique; GPS; Sciences de la terre; Environnement -- Surveillance; Earth sciences; Environmental monitoring; Geographic information systems; Global Positioning System; Navigation; Remote sensing; Periodicals; Electronic journals; 629.045
• DOI: 10.1155/2012/678596
• Languages: English
• ISSNs: 1687-5990

Abstract

Abstract : The carrier-phase-derived delta pseudorange measurements are often used for velocity determination. However, it is a type of integrated measurements with errors strongly related to pseudorange errors at the start and end of the integration interval. Conventional methods circumvent these errors with approximations, which may lead to large velocity estimation errors in high-dynamic applications. In this paper, we employ the extra states to "remember" the pseudorange errors at the start point of the integration interval. Sequential processing is employed for reducing the processing load. Simulations are performed based on a field-collected UAV trajectory. Numerical results show that the correct handling of errors involved in the delta pseudorange measurements is critical for high-dynamic applications. Besides, sequential processing can update different types of measurements without degrading the system estimation accuracy, if certain conditions are met.