Browse > Article

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)
Publication Information
Journal of Mechanical Science and Technology / v.16, no.11, 2002 , pp. 1367-1378 More about this Journal
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
GPS; INS; Observability analysis; IMU biases;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 Error Esti-mation of INS Ground Alignment Through Observability Analysis /
[ Jiang Y.F.;Lin Y.P. ] / IEEE Transactions on Aerospace and Electronic Systems   DOI   ScienceOn
2 Bar-Itzhack, I.Y. and Berman, N., 1988, 'Control Theoretic Approach to Inertial Navigation Systems,' Journal of Guidance, Control and Dynamics, Vol. 11, No. 3, pp. 237-245   DOI   ScienceOn
3 Cohen, C.E., 1992, 'Attitude Determination Using GPS,' Dissertation for Ph.D., Dept. of Aeronautics and Astronautics, Stanford University
4 Chen, C.T., 1984, Linear System Theory and Design, New York : Holt, Rinehart and Winston
5 Ham, F.M. and Brown, R.G., 1983, 'Observability, Eigenvalues, and Kalman Filtering,' IEEE Transactions on Aerospace and Electronic Systems, Vol. 19, No. 2, pp. 269-273   DOI   ScienceOn
6 Cohen, C.E., Parkinson, B.W. and McNally, B.D., 1994, 'Flight Tests of Attitude Determina-tion Using GPS Compared Against an Inertial Navigation Unit,' Navigation, Journal of the Institute of Navigation, Vol. 51, No. 1, pp. 83-97
7 Farrell, J.A. and Barth, M., 1999, The Global Positioning System & Inertial Navigation, The McGraw-Hill Companies, Inc., New York
8 Gebre-Egziabher, D., Hayward, R.C. and Powell, J.D., 1998, 'A Low-Cost GPS/Inertial Attitude Heading Reference System (AHRS) for General Aviation Applications,' Proc. of 1998 IEEE Position, Location and Navigation Symposium, Palm Springs, CA, pp. 518-525   DOI
9 Goshen-Meskin, D. and Bar-Itzhack, I.Y., 1992, 'Observability Analysis of Piece-Wise Constant Systems-Part I: Theory,' IEEE Transactions on Aerospace and Electronic Systems, Vol. 28, No. 4, pp. 1056-1067   DOI   ScienceOn
10 Goshen-Meskin, D. and Bar-Itzhack, I.Y., 1992, 'Observability Analysis of Piece-Wise Constant Systems-Part II: Application to Inertial Navigations In-Flight Alignment,' IEEE Transactions on Aerospace and Electronic Systems, Vol. 28, No. 4, pp. 1068-1075   DOI   ScienceOn
11 Wei, M. and Schwarz, K.P., 1990, 'A Strap-dawn Inertial Algorithm Using an Earth-Fixed Cartesian Frame,' Navigation, Journal of The Institute of Navigation, Vol. 37, No. 2, pp. 153-167
12 Hayward, R.C., Gebre-Egziabher, D., Schwall, M., Powell, J.D. and Wilson, J., 1997, 'Inertially Aided GPS Based Attitude Heading Reference System (AHRS) for General Aviation Aircraft,' Proc. of ION-GPS-97, Kansas City, MO, pp. 289-298
13 Jiang, Y.F. and Lin, Y.P., 1992, 'Error Estimation of INS Ground Alignment Through Observability Analysis,' IEEE Transactions on Aerospace and Electronic Systems, Vol. 28, No. 1, pp. 92-97   DOI   ScienceOn
14 Kaplan, E.D., (Ed.), 1996, Understanding GPS, Principles and Applications, Artech House, Boston
15 Parkinson, B.W. and Spilker, J.J., Jr. (Eds.), 1996, Global Positioning System : Theory and Applications, Volume II, American Institute of Aeronautics and Astronautics, Inc., Washington DC
16 Sadaka, M., 1998, 'Tightly Coupled Relative Differential GPS, INS, Airdata Fusion Filter Applied to Formation Flight,' Master's Thesis, UCLA
17 Vik, B., Shiriaev, A. and Fossen, T.I., 1999, 'Nonlinear Observer Design for Intergration of DGPS and INS,' New Directions in Nonlinear Observer Design H. Nijmeijer and T.I. Fossen, Eds., Springer-Verlag Ltd., London, pp. 135-159