An approach to aid INS using time-differenced GPS carrier phase (TDCP) measurements

Soon, Ben K. H.; Scheding, Steve; Lee, Hyung-Kuen; Lee, Hung-Kyu; Durrant‐Whyte, Hugh

doi:10.1007/s10291-007-0083-7

Cited by 57 publications

(40 citation statements)

References 8 publications

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“…The delayed state structure of the EIF allows this observation between two poses to be correctly accounted for (Soon et al (2008)). The TDCP change-in-position measurement is assumed to have an uncertainty of 5 mm (2σ) occurring at 2 Hz.…”

Section: Six Degrees-of-freedom Simulationmentioning

confidence: 99%

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Mid-water current aided localization for autonomous underwater vehicles

et al. 2016

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Survey-class Autonomous Underwater Vehicles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precision localization near the seafloor. In cases where the seafloor depth is greater than the DVL bottom-lock range, localizing between the surface and the seafloor presents a localization problem since both GPS and DVL observations are unavailable in the midwater column. This work proposes a solution to this problem that exploits the fact that current profile layers of the water column are near constant over short time scales (in the scale of minutes). Using observations of these currents obtained with the Acoustic Doppler Current Profiler (ADCP) mode of the DVL during descent, along with data from other sensors, the method discussed herein constrains position error. The method is validated using field data from the Sirius AUV coupled with view-based Simultaneous Localization and Mapping (SLAM) and on descents up to 3km deep with the Sentry AUV.

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Section: Six Degrees-of-freedom Simulationmentioning

confidence: 99%

“…TDCP (Soon et al (2008)) is a particular implementation of carrier phase processing. It can be approximately modeled as tracking the change in position of the vehicle (while on the surface).…”

Section: Six Degrees-of-freedom Simulationmentioning

confidence: 99%

Mid-water current aided localization for autonomous underwater vehicles

et al. 2016

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“…The underlying stipulation is the time difference is small enough to assume that all the errors are correlated. Time differenced carrier phase measurements are used in [25] and [26] to improve positioning for aerial vehicles.…”

Section: Gps Carrier Based Odometrymentioning

confidence: 99%

“…This field is used to select a virtual leader position that is immediately beyond the desired following distance. A search is performed using Equation (26). The index n starts at zero and increments until the virtual leader location is within the region or behind the follower.…”

Section: Long Distance Followingmentioning

confidence: 99%

Non-Line-of-Sight Automated Vehicle Following Using a Dynamic Base RTK System

et al. 2011

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A GPS based automated convoy strategy to duplicate the path of a human driven vehicle is presented. GPS carrier phase measurements are used to estimate a relative position vector with centimeter level accuracy and changes in relative position with millimeter level accuracy. These estimates are used in the presented method to enable a following vehicle to replicate a lead vehicle's path of travel while both are in motion and not necessarily in sight of one another. Results from a real time implementation are given. Error analysis reveals path following accuracy is a function of following distance. Real time performance is compared to the derived theoretical accuracy. Discussion within explains deficiencies in ''breadcrumb'' waypoint following, limitations of the proposed method, and suggestions to enhance performance through augmentation with other on board systems.

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“…The time differenced carrier phase measurements have been used for aiding in the GPS/INS integration system in order to avoid the hard ambiguity resolution problem. Wendel [10] and Soon [11] proposed a tightly coupled GPS/INS integration system with the time differenced carrier phase measurement in order to improve position accuracy. Grass and Lee [12] showed that high-accuracy differential positioning results can be obtained by using iterative double difference processing with triple difference method.…”

Section: Introductionmentioning

confidence: 99%

Attitude Determination GPS/INS Integration System Design Using Triple Difference Technique

Oh¹,

Hwang²,

Park³

et al. 2012

Journal of Electrical Engineering and Technology

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-GPS attitude outputs or carrier phase observables can be effectively utilized to compensate the attitude error of the strapdown inertial navigation system. However, when the integer ambiguity is not correctly resolved and/or a cycle slip occurs, an erroneous GPS output can be obtained. If the erroneous GPS output is applied to the attitude determination GPS/INS (ADGPS/INS) integrated navigation system, the performance of the system can be degraded. This paper proposes an ADGPS/INS integration system using the triple difference carrier phase observables. The proposed integration system contains a cycle slip detection algorithm, in which the inertial information is combined. Computer simulations and flight test were performed to verify effectiveness of the proposed navigation system. Results show that the proposed system gives an accurate and reliable navigation solution even when the integer ambiguity is not correctly resolved and the cycle slip occurs.

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An approach to aid INS using time-differenced GPS carrier phase (TDCP) measurements

Cited by 57 publications

References 8 publications

Mid-water current aided localization for autonomous underwater vehicles

Mid-water current aided localization for autonomous underwater vehicles

Non-Line-of-Sight Automated Vehicle Following Using a Dynamic Base RTK System

Attitude Determination GPS/INS Integration System Design Using Triple Difference Technique

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