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A Robust and Effective GNSS/INS Integration Optimizing Cost and Effort

Felux, Michael and Rippl, Markus and Grosch, Anja (2009) A Robust and Effective GNSS/INS Integration Optimizing Cost and Effort. In: Proceedings of the 2nd GNSS Vulnerabilities and Solutions Conference. 2nd GNSS Vulnerabilities and Solutions Conference, 02.-05. Sep. 2009, Baska, Kroatien.



Meeting all requirements for ying approaches in bad weather conditions is one of the most demanding and challenging aspects of present day airborne navigation. Stand-alone satellite navigation has not yet reached the point of being suciently robust and accurate in order to reach certication level. Therefore, in this work the performance of an integrated satellite/inertial navigation system (GNSS/INS) is investigated in order to cope with short term losses of GNSS signals. We consider a low-cost Micro Electronic Mechanical System (MEMS) INS which is constantly reinitialized with information coming solely from GNSS. It takes over navigational responsibility when a loss of signal occurs or other failures in the satellite navigation system are detected. For the GNSS to provide all information necessary to initialize an INS, a minimum of three antennas is needed to measure the aircraft's attitude along with its speed and position. Error models for positioning, speed and attitude estimation are used to create a model for initialization uncertainties. Together with error models for the accelerometers and gyros in the Inertial Measurement Unit (IMU), the behavior of the whole proposed architecture is determined via performance simulations. As a maximum allowable error 15.3 meters (which corresponds to the CAT III horizontal alert limit for GNSS approaches) are taken. Our simulations show that this limit is not exceeded for at least 14 seconds after the take-over of navigational responsibility by the INS.

Item URL in elib:https://elib.dlr.de/60102/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:A Robust and Effective GNSS/INS Integration Optimizing Cost and Effort
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Date:October 2009
Journal or Publication Title:Proceedings of the 2nd GNSS Vulnerabilities and Solutions Conference
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:GNSS; INS integration; continuity
Event Title:2nd GNSS Vulnerabilities and Solutions Conference
Event Location:Baska, Kroatien
Event Type:international Conference
Event Dates:02.-05. Sep. 2009
Organizer:Royal Insitute of Navigation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:Aeronautics
DLR - Program:L - no assignment
DLR - Research theme (Project):L - no assignment (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Navigation
Deposited By: Felux, Michael
Deposited On:07 Oct 2009 08:03
Last Modified:31 Jul 2019 19:25

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