By aiding GPS receiver tracking loops with INS estimates of signal dynamics, GPS/INS ultra-tight coupling can improve the navigation performance in challenging environments. Traditionally the INS data are injected into the loops once every loop update interval, which limits the levels of dynamics accommodated. This paper presents a sample-wise aiding method, which interpolates the aiding Doppler into each digital sample of the local signal to further eliminate the dynamic errors. The relationship between the tracking error and the aiding rate is derived analytically. Moreover, the effects of sample-wise aiding using linear and spline interpolations are simulated and compared with traditional aiding under different INS data update rates. Finally, extensive tests based on a digital IF (intermediate frequency) signal simulator and a software receiver validate the theoretical equations and demonstrate that the dynamic stress error can be significantly reduced by sample-wise aiding.
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