GPS INS Integration System

1
GPS / INS Integration System
2
GPS Receiver Functions
3
Inertial Navigation System Technology

• Gyroscope Technology
• FRIG (Floated Rate Integrating Gyroscope)
• DTG (Dynamically Tuned Gyroscope)
• RLG (Ring Laser Gyroscope)
• FOG (Fiber Optical Gyroscope)
• Future ? optics type using Sagnac effect
• Accelerometer Technology
• Pendulous type
• Vibrating type
• Silicon type
• Future ? micro machine type
• System Technology
• Gimbaled INS (physical stable platform)
• Strapdown INS (analytical stable platform)
• Future ? low cost strapdown INS aided
  non-inertial sensor

4
Strapdown INS Functional Block

• Attitude calculation algorithm using the rotation
  vector and the quaternion parameter
• Velocity and position calculation algorithm
  considering the angular rate effect

5
Comparison GPS to INS

• Advantage and disadvantage

6
Performance of GPS and INS

• Position

• Attitude

7
Product Trend

• Commercial products
• Product trend
• Low grade INS GPS ? High accuracy positioning
• INS sensor calibration ? Improved INS
  performance

8
How to Integrate GPS and INS

• Loosely coupled method

• Advantage
• Improve survivability
• Simple calculation
• Disadvantage
• Sub-optimal filter
• Required least 4-satellites

9

• Tightly coupled method

• Advantage
• Optimal filter
• Available less than 4-satellites
• Disadvantage
• Complex calculation
• Difficulty hardware design

10
Hardware Configuration of the Integration
Attitude GPS RCVR
PG, VG
FG
IMU
GPS/INS Integrated computer
Monitoring
PN, VN
PI, VI
FN
FI
11
Software Configuration of the Integration
H/W
Real Time Kernel Task management Memory
management Resource control Intertask
communication and Synchronization
GPS Task Signal Tracking Take
Measurement Navigation by GPS Attitude by
GPS INS Task Initial Alignment Inertial
Navigation Inertial Attitude Integration
Task Preprocessing Filtering