Performance comparison of kinematic GPS integrated with different tactical grade IMUs.

摘要

With the decreasing cost of inertial measurement units (IMUs), the use of integrated GPS/INS (Global Positioning System/Inertial Navigation System) systems becomes more feasible for high-accuracy navigation. Improvements from the integration of GPS and tactical-grade inertial navigation systems have previously been investigated using the Honeywell HG1700 for high-accuracy vehicular applications. However, side-by-side testing of other tactical-grade inertial measurement units (IMUs) has not been done to assess whether the same improvements can be achieved when using the data collected simultaneously using more than one IMU. In this thesis, Honeywell HG1700 and Litton LN200 IMUs are independently integrated with a NovAtel OEM4 dual-frequency GPS receiver in the same test vehicle for high-accuracy positioning using GPS carrier phase observables.; The assessment of the use of different ambiguity strategies on short baselines (less than 10 km) and long baselines (more than 50 km), in terms of position accuracy, will provide insight as to which ambiguity strategy is best suited in the presence of large differential errors. To give the criteria for ambiguity strategy selection under different scenarios, the ambiguity resolution strategies and their advantages and disadvantages under short and long baseline conditions were investigated. (Abstract shortened by UMI.)