Time Synchronization Errors in Loosely Coupled GPS-Aided Inertial Navigation Systems
2011 (English)In: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 12, no 4, 1014-1023 p.Article in journal (Refereed) Published
The effects of data time synchronization errors in a loosely coupled Global-Positioning-System (GPS)-aided inertial navigation system (INS) are studied and quantified in terms of the increased mean square error (MSE) of the navigation solution. An expression for evaluating the MSE of the navigation solution, given the vehicle trajectory and the model of the INS error dynamics, is derived. Thereafter, a software-based time synchronization method, where the time synchronization error is included as a state to be estimated by the data integration filter, is proposed. A practical approach to the implementation of the proposed time synchronization method is also briefly described. Moreover, an expression for the MSE of the navigation solution in the system that employs the proposed synchronization method is derived. Finally, through simulations and tests with real-world data, the correctness of the derived MSE expressions is validated, and the application of the proposed synchronization method is shown. The test results show that, with the proposed synchronization approach, a data time synchronization, which is accurate to the order of a few milliseconds, can be achieved.
Place, publisher, year, edition, pages
2011. Vol. 12, no 4, 1014-1023 p.
Global Positioning System (GPS), inertial navigation system (INS), integrated navigation, time synchronization
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-55247DOI: 10.1109/TITS.2011.2126569ISI: 000297588500007ScopusID: 2-s2.0-82455212058OAI: oai:DiVA.org:kth-55247DiVA: diva2:474553
FunderEU, European Research Council, 228044
QC 201201092012-01-092012-01-022012-03-28Bibliographically approved