A Study on the Measurement Time-Delay Estimation of Tightly-Coupled GPS/INS system

Lee, Youn-Seon; Lee, Sang-Jeong

Journal of the Korea Institute of Military Science and Technology 2008;11(4):116-123.

Youn-Seon Lee, Sang-Jeong Lee

¹
²Chungnam National University

강결합방식의 GPS/INS 시스템에 대한 측정치 시간지연 추정 연구

이윤선, 이상정

¹국방과학연구소
²충남대학교

Abstract

In this paper we study the performance of the measurement time-delay estimation of tightly-coupled GPS/INS(Global positioning system/Inertial Navigation system) system. Generally, the heading error estimation performance of loosely-coupled GPS/INS system using GPS's Navigation Solution is poor. In the case of tightly-coupled GPS/INS system using pseudo-range and pseudo-range rate, the heading error estimation performance is better. However, the time-delay error on the measurement(pseudo-range rate) make the heading error estimation performance degraded. So that, we propose the time-delay model on the measurement and compose the time-delay estimator. And we confirm that the heading error estimation performance in the case of measurement time-delay existence is similar with the case of no-delay by Monte-Carlo simulation.

Key Words: Tightly-Coupled, Heading Error, Time-Delay