Please use this identifier to cite or link to this item: http://hdl.handle.net/10603/4389
Title: Ultra-tight integration of global position system, Pseudolites and inertial navigation system using Kalman filter
Researcher: Laxminarayana, G
Guide(s): Murthy Sarma, N S
Lalkishore, K
Keywords: Code Phase Measurements
Cascaded Integration Comb (CIC)
Mechanical Engineering
Upload Date: 24-Aug-2012
University: Jawaharlal Nehru Technological University
Completed Date: 30-05-2011
Abstract: The main driving force to integrate these two navigation systems as an integrated GPS/INS system in different architectural forms to provide robust positioning. The complementary advantages of GPS and INS have been extracted. The loosely coupled and tightly coupled GPS/INS systems have been in existence for more than two decades and performed reasonably well, nevertheless, the tracking performance was still a problem to be addressed in non-benign environments such as dynamic scenarios, indoor environments, urban areas, under foliages etc., where the GPS tracking loops lose lock due to the weak signals, subjected to excessive dynamics or completely blocked. The strong force for this research, therefore, was to address these limitations with ultra-tight integration architecture of GPS/Pseudolite/ INS system using Kalman filter. The main research contributions are written in brief: 1. The performance of the tracking loops in dynamic scenarios were analysed in detail with both conventional and ultra-tight software receivers. The stochastic modelling of the INS-derived Doppler is of the most important in improving the merits of ultra-tight integration, and therefore, two popular stochastic techniques Gauss Markov (GM) and Autoregressive (AR), were investigated to model the Doppler.The main driving force to integrate these two navigation systems as an integrated GPS/INS system in different architectural forms to provide robust positioning. The complementary advantages of GPS and INS have been extracted. The loosely coupled and tightly coupled GPS/INS systems have been in existence for more than two decades and performed reasonably well, nevertheless, the tracking performance was still a problem to be addressed in non-benign environments such as dynamic scenarios, indoor environments, urban areas, under foliages etc., where the GPS tracking loops lose lock due to the weak signals, subjected to excessive dynamics or completely blocked..
Pagination: 212p.
URI: http://hdl.handle.net/10603/4389
Appears in Departments:Department of Electronics and Communication Engineering

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01_title.pdfAttached File34.13 kBAdobe PDFView/Open
02_declaration.pdf82.86 kBAdobe PDFView/Open
03_certificate.pdf100.9 kBAdobe PDFView/Open
04_acknowledgements.pdf33.33 kBAdobe PDFView/Open
05_abstract.pdf128.84 kBAdobe PDFView/Open
06_contents.pdf199.43 kBAdobe PDFView/Open
07_list of figures.pdf130.06 kBAdobe PDFView/Open
08_list of tables.pdf68.74 kBAdobe PDFView/Open
09_abbreviations.pdf74.49 kBAdobe PDFView/Open
10_chapter 1.pdf263.92 kBAdobe PDFView/Open
11_chapter 2.pdf561.3 kBAdobe PDFView/Open
12_chapter 3.pdf427.34 kBAdobe PDFView/Open
13_chapter 4.pdf395.88 kBAdobe PDFView/Open
14_chapter 5.pdf262.94 kBAdobe PDFView/Open
15_chapter 6.pdf490.63 kBAdobe PDFView/Open
16_chapter 7.pdf386.29 kBAdobe PDFView/Open
17_chapter 8.pdf137.32 kBAdobe PDFView/Open
18_references.pdf181.9 kBAdobe PDFView/Open


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