A new federated deeply coupled GPS/INS system

Traditional Deeply Integrated (DI) algorithms combines the receiver signal tracking loops and the IMU and the navigation filter function into an integrated filter. In this case, the filter rapidly operates on the receiver-tracking loop I and Q signals which are at a basic level and the IMU measurements to estimate navigation information. In this paper, we propose a federated zero-reset (FZR) method for coherent Deeply Integration, where multiple pre-filters are used (one per satellite) at a relatively high data rate working with the I and Q of the correlator outputs. The outputs from these pre-filters are next used in one composite Kalman Filter operations at a relatively low data rate. Results of software simulations are presented which offers significant tracking performance in Low carrier-to-noise and high g environment.