GPS & INS Simulation and GPS/INS Integration
Navigation is the science of the determination of the position and velocity of a moving vehicle. There exist two navigation systems in industry, "positioning systems" and "dead-reckoning systems". In this thesis global positioning system (GPS) has been analyzed in detail, which is one of the most important positioning system used in industries. First the main feature of GPS such as system configuration, navigation equations and error dynamics have been elaborated. Then the simulation of the GPS has been developed in MATLAB environment assuming a C/A code receiver, in which, the SA effect was discussed. As one of the main technologies in dead-reckoning navigation systems, inertial navigation system (INS) has been also studied in this thesis. INS determines position and velocity, simply by integrating the measured accelerations. A strapdown INS has been simulated in the SIMULINK environment using the empirical error parameters. Due to the instability of the INS vertical channel, error values were grown unboundedly with time. Hence, integration of GPS and INS data has been proposed, and three main approaches to the integration of GPS and INS were surveyed. Then we have designed an extended Kalman filter (EKF) for the cascaded integration of a C/A code GPS and a strapdown INS. This filter provides the suboptimal solutions to minimize the variance of the error estimates of the INS using GPS and INS position data as measurements. The obtained results show a significant improvement of navigation data with the proposed algorithm.
|2001||M.Sc.||Dynamical Systems Analysis and Control|