This thesis describes the theoretical and practical stages through
development to testing of an integrated navigation system, specifically composed
of an Inertial Navigation System (INS), and Global Positioning System (GPS).
Integrated navigation systems combine the best features of independent systems
to bring out increased performance, improved reliability and system integrity. In an
integrated INS/GPS system, INS output is used to calculate current navigation
states / GPS output is used to supply external measurements, and a Kalman filter is
used to provide the most probable corrections to the state estimate using both
data.
Among various INS/GPS integration strategies, our aim is to construct a
tightly coupled integrated INS/GPS system. For this purpose, mathematical models
of INS and GPS systems are derived and they are linearized to form system
dynamics and system measurement models respectively. A Kalman filter is
designed and implemented depending upon these models. Besides these, based
on the given aided navigation system representation a quantitative measure for
observability is defined using Gramians. Finally, the performance of the developed
system is evaluated with real data recorded by the sensors. A comparison with a
reference system and also with a loosely coupled system is done to show the
superiority of the tightly coupled structure. Scenarios simulating various GPS data
outages proved that the tightly coupled system outperformed the loosely coupled
system from the aspects of accuracy, reliability and level of observability.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/4/1093087/index.pdf |
| Date | 01 January 2003 |
| Creators | Ozturk, Alper |
| Contributors | Demirekler, Mubeccel |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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