NDLI: GPS/INS integration in a severe urban environment

Content Provider	IEEE Xplore Digital Library
Author	Weiss, J.D. Shields, F.
Copyright Year	1998
Description	Author affiliation: Photon Res. Associates, USA (Weiss, J.D.)
Abstract	GPS satellite visibility data collected over a ground track in the "deep urban canyons" of lower Manhattan indicated that there were usually too few satellites being tracked to form a position solution. The present study investigates the augmentation of such limited GPS data with a low cost, low accuracy INS. The navigation system is assumed to be self-contained and unobtrusively attached to the host vehicle. Initial covariance matrix analyses produced errors far in excess of that deemed necessary for a remotely sited operator to locate the vehicle on the correct street, when the navigation data is projected onto a map display. A series of software upgrades were then shown to produce significant performance improvements. In the final phase of this effort, a simplified simulation program was used to display navigation data on a grid map of the area in question. It was then found that a revised navigation algorithm produced data that appears to greatly enhance the ability of an operator to correlate the navigation data with the correct streets on the map.
Starting Page	432
Ending Page	440
File Size	1270095
Page Count	9
File Format	PDF
ISBN	0780343301
DOI	10.1109/PLANS.1998.670196
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-04-20
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Global Positioning System Satellite navigation systems Vehicles Error correction Displays Cities and towns Inertial navigation Photonics Costs Covariance matrix
Content Type	Text
Resource Type	Article

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2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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