High-accuracy, high-frequency differential carrier phase GPS aided low-cost INS

This article describes experimental results for a real-time, carrier phase, differential Global Positioning System (GPS) aided inertial navigation system (INS). The INS uses inexpensive solid state inertial sensors sampled and integrated at 150 Hz with differential GPS carrier phase measurements as corrections via a complementary filter at 1 Hz. Therefore, the implementation achieves 150 Hz, vehicle state estimates with position accuracy at the centimeter level. Such navigation systems have many application possibilities (e.g., aviation and precision flight, automated mining, precision farming, dredging, satellite attitude control, and automotive or train control). The experimental results described herein are the result of automated vehicle testing on the high occupancy vehicle lanes of the I-15 near San Diego in July 1999