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Frequency domain modeling of aided GPS with application to high-speed vehicle navigation systems

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3 Author(s)
Nebot, E.M. ; Dept. of Mech. Eng., Sydney Univ., NSW, Australia ; Durrant-Whyte, H. ; Scheding, S.

Position information obtained from standard GPS receivers is known to be corrupted with coloured (time-correlated) noise. To make effective use of GPS information in a navigation system it is essential to model this coloured noise and to incorporate additional sensing to de-correlate and eliminate its effect. In this paper frequency domain techniques are employed to generate a model for GPS noise sources. This model shows clearly what type and combination of additional sensor information is necessary to de-correlate GPS errors and to make best use of position information in navigation tasks. The frequency-domain methodology proposed has wider application in the design of sensor suites for high-performance navigation systems. Experimental results are presented demonstrating the method in fusing standard GPS latitude and longitude information with information from a velocity sensor

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:3 )

Date of Conference:

20-25 Apr 1997