Frequency Domain Modeling of Aided GPS with application to High Speed Vehicle Navigation Systems
Abstract
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.
BibTeX
@conference{Nebot-1997-16381,author = {E. M. Nebot and H. F. Durrant-Whyte and Steve Scheding},
title = {Frequency Domain Modeling of Aided GPS with application to High Speed Vehicle Navigation Systems},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1997},
month = {April},
volume = {3},
pages = {1892 - 1897},
}