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Time Synchronization Errors in Loosely Coupled GPS-Aided Inertial Navigation Systems
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-3054-6413
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-2718-0262
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
Abstract [en]

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.
Keyword [en]
Global Positioning System (GPS), inertial navigation system (INS), integrated navigation, time synchronization
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-55247DOI: 10.1109/TITS.2011.2126569ISI: 000297588500007Scopus ID: 2-s2.0-82455212058OAI: oai:DiVA.org:kth-55247DiVA: diva2:474553
Funder
EU, European Research Council, 228044
Note
QC 20120109Available from: 2012-01-09 Created: 2012-01-02 Last updated: 2017-12-08Bibliographically approved
In thesis
1. GNSS-aided INS for land vehicle positioning and navigation
Open this publication in new window or tab >>GNSS-aided INS for land vehicle positioning and navigation
2007 (English)Licentiate thesis, comprehensive summary (Other scientific)
Abstract [en]

This thesis begins with a survey of current state-of-the art in-car navigation systems. The pros and cons of the four commonly used information sources — GNSS/RF-based positioning, vehicle motion sensors, vehicle models and map information — are described. Common filters to combine the information from the various sources are discussed.

Next, a GNSS-aided inertial navigation platform is presented, into which further sensors such as a camera and wheel-speed encoder can be incorporated. The construction of the hardware platform, together with an extended Kalman filter for a closed-loop integration between the GNSS receiver and the inertial navigation system (INS), is described. Results from a field test are presented.

Thereafter, an approach is studied for calibrating a low-cost inertial measurement unit (IMU), requiring no mechanical platform for the accelerometer calibration and only a simple rotating table for the gyro calibration. The performance of the calibration algorithm is compared with the Cramér-Rao bound for cases where a mechanical platform is used to rotate the IMU into different precisely controlled orientations.

Finally, the effects of time synchronization errors in a GNSS-aided INS are studied in terms of the increased error covariance of the state vector. Expressions for evaluating the error covariance of the navigation state vector are derived. Two different cases are studied in some detail. The first considers a navigation system in which the timing error is not taken into account by the integration filter. This leads to a system with an increased error covariance and a bias in the estimated forward acceleration. In the second case, a parameterization of the timing error is included as part of the estimation problem in the data integration. The estimated timing error is fed back to control an adjustable fractional delay filter, synchronizing the IMU and GNSS-receiver data.

Place, publisher, year, edition, pages
Stockholm: KTH, 2007. vii,[7] p.
Series
Trita-EE, ISSN 1653-5146 ; 2007:066
National Category
Signal Processing
Identifiers
urn:nbn:se:kth:diva-4556 (URN)
Presentation
2007-12-07, Hörsal E32, KTH, Lindstedtsvägen 3, Stockholm, 10:00
Opponent
Supervisors
Note
QC 20101117Available from: 2007-11-25 Created: 2007-11-25 Last updated: 2012-03-28Bibliographically approved

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Skog, IsaacHändel, Peter

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