Multi GNSS constellation deeply coupled GNSS/INS integration for automotive application using a software defined GNSS receiver

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 syst...

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Bibliographic Details
Main Authors: Langer, Markus, Trommer, Gert F.
Format: Conference Proceeding
Language:English
Subjects:
Equations
Frequency measurement
Global Positioning System
Kalman filters
Receivers
Satellites
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Summary: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.
ISSN:2153-358X
2153-3598
DOI:10.1109/PLANS.2014.6851480