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A Multi-Sensor Navigation Filter for High Accuracy Positioning in all Environments

Published online by Cambridge University Press:  09 August 2007

Chris Hide ,
Terry Moore  and
Chris Hill
Chris Hide
Affiliation:
(IESSG, University of Nottingham)
Terry Moore*
Affiliation:
(IESSG, University of Nottingham)
Chris Hill
Affiliation:
(IESSG, University of Nottingham)
*
(Email: Terry.Moore@nottingham.ac.uk)
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Abstract

The aim of the SPACE project is to develop a mobile test bed that can position to within centimetres in all conditions and environments. To achieve this goal, a number of different positioning technologies have to be integrated together including GNSS, INS, pseudolites and other technologies such as Ultra Wideband and Bluetooth ranging. The integration of these sensors is achieved by the development of a ‘plug and play’ filter that will optimally combine measurements from each sensor to form an accurate position solution. The filter has been designed so that the sensors are integrated at the measurement level wherever possible, so partial measurements from different systems can be used together.

This paper describes the development of the plug and play filter, focussing in particular on how the states are defined, how the measurements are used, and how a generic filter can be developed that can integrate all types of positioning sensor. Some early results from the filter are shown integrating GPS, INS and simulated measurements from an Ultra Wideband system. A prototype version of the mobile test bed is also described.

Keywords

SPACEGNSSINS
Type
Research Article
Information
The Journal of Navigation , Volume 60 , Issue 3 , September 2007 , pp. 409 - 425
Copyright
Copyright © The Royal Institute of Navigation 2007

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References

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