Ultra-tight GPS/INS Integrated System for Land Vehicle Navigation in Challenging Environments
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Authors
Karaim, Malek
Date
Type
thesis
Language
eng
Keyword
GPS , INS , RISS , Integration , MEMS , Denoising , Ultra-tight , Multi-path , Interference , Signal Tracking , Jamming
Alternative Title
Abstract
The Global Navigation Satellite Systems (GNSS) have been commonly used for land
vehicle positioning and navigation applications. A typical example of GNSS is the
Global Positioning System (GPS). The GPS provides accurate navigation solution in
open sky. However, in some circumstances, such as urban areas, underpasses, tunnels,
and in the presence of signal jamming, GPS signals cannot be easily tracked since they
might be harshly attenuated or entirely blocked, potentially leading to loss of signal,
thereby requiring re-acquisition of the signal for the corresponding satellite. To avoid
the intensive computations necessary for the signal re-lock (i.e., signal re-acquisition
stage) in a GPS receiver, a robust signal-tracking mechanism that can hold and/or
rapidly re-lock on the signals and keep track of their dynamics is becoming necessary.
Additionally, the signal tracking process is where measurements are generated; thus,
it has a direct impact on the resultant navigation solution. This makes the choice of
a successful tracking method a crucial task in GPS receiver design. The significance
of research in this thesis is multi-fold. First, is the design and implementation of
a robust vector-based tracking system which furthermore required the realization of
a complete software-defined receiver (SDR). Second, the proposed tracking system
architecture was augmented with a reduced inertial navigation system (RISS) to produce
a new ultra-tight GPS/INS integrated system that further enhances a receivers tracking robustness and sensitivity in challenging scenarios. Third, this research also
presents a more computationally efficient inertial measurement unit (IMU) data de-noising
method. Last but not the least, this thesis also presents a novel GPS/INS
trajectory data simulation podium that can generate simulation data sets for all levels
of GPS/INS integration systems. This tool was successfully used to verify the operation
and performance of the newly implemented ultra-tight GPS/INS integrated
system. Results show a good performance of the implemented method(s) against
a commercial receiver and a reference solution. The software receiver approach has
been adopted as a platform for implementing the proposed algorithm(s); nevertheless,
the proposed methodology can be applied in conventional hardware receivers, as well.
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Queen's University's Thesis/Dissertation Non-Exclusive License for Deposit to QSpace and Library and Archives Canada
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Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.
ProQuest PhD and Master's Theses International Dissemination Agreement
Intellectual Property Guidelines at Queen's University
Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.