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INS measurement integration in a GPS software receiver
2009 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In open sky conditions a GPS receiver normally performs very well, but in a more challenging environment, such as an urban canyon, the GPS receiver will have more trouble coming up with an accurate position. In those environments there are few or none satellites visible, and the errors grow due to multipath and weaker signal strengths. In this thesis additional sensors will be used to tackle this problem. CSR is a company which distribute low-cost GPS chips/applications. Their latest software receiver is the E7000, which has a comparable performance with other GPS receivers but similar to other receivers in the price range, it has trouble with performance in such challenging environment as described above. An INS system have been implemented in the navigation filter of the E7000 to improve the overall position estimate and to aid it in challenging environments (such as urban canyons, tunnels, etc.) where few or none satellites are visible. Measurements from low-cost MEMS, three accelerometers and one gyroscope, will be used in this system. All the work is done in post-processing, except for the data collections. The thesis will show that by using these additional sensors (with a few assumptions) the performance, such as availability, horizontal accuracy and heading accuracy, will be improved significantly, especially in challenging environments.

Place, publisher, year, edition, pages
Keyword [en]
Physics Chemistry Maths, GPS, INS, IMU, MEMS, accelerometers, gyroscopes, navigation, tröghetssensorer, gyroskop, kalman, filter, estimator, multipath, trilateration, pseudorange, ionosphere, fysik
Keyword [sv]
Fysik, Kemi, Matematik
URN: urn:nbn:se:ltu:diva-48806ISRN: LTU-EX--09/112--SELocal ID: 63aef1dd-e6a8-4e98-a8f6-d4a32a3ffeb9OAI: diva2:1022150
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20101217 (root)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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