Title :
Multi GNSS constellation deeply coupled GNSS/INS integration for automotive application using a software defined GNSS receiver
Author :
Langer, Marco ; Trommer, Gert F.
Author_Institution :
Inst. of Syst. Optimization, Karlsruhe Inst. of Technol. (KIT), Karlsruhe, Germany
Abstract :
In this paper a non-coherent deeply coupled GNSS/INS system using a multi constellation software defined GNSS receiver is assessed regarding the advantages of multi constellation (GPS/GALILEO/GLONASS) GNSS/INS integration compared to a GPS only based GPS/INS integrated approach. Both navigation systems are used to evaluate the performance of a moving automotive platform during real world test drives in an urban environment. The navigation solutions are compared to a RTK reference solution. The software GNSS receiver design is presented focusing on processing data from multiple GNSS systems including estimation of clock offsets between different GNSS systems. Several combinations of GNSS systems GPS/GLONASS, GPS/GALILEO, GPS only, GLONASS only and GALILEO only are evaluated.
Keywords :
Global Positioning System; automobiles; inertial navigation; radio receivers; software radio; GALILEO; GLONASS; GPS; RTK reference solution; automotive application; clock offset estimation; multiGNSS constellation deeply coupled GNSS/INS integration; multiconstellation software defined GNSS receiver design; navigation systems; noncoherent deeply coupled GNSS-INS system; performance evaluation; real world test drives; urban environment; Equations; Frequency measurement; Global Positioning System; Kalman filters; Receivers; Satellites;
Conference_Titel :
Position, Location and Navigation Symposium - PLANS 2014, 2014 IEEE/ION
Conference_Location :
Monterey, CA
Print_ISBN :
978-1-4799-3319-8
DOI :
10.1109/PLANS.2014.6851480
