Description: The performance of an Ultra-Tightly Coupled
(UTC) Global Positioning System/Inertial Navigation System
(GPS/INS) is evaluated using a system simulation of the GPS
receiver and navigation processing. The UTC system being
analyzed uses a bank of pre-filters to estimate code delay error
and Doppler frequency error for each satellite. These outputs are
sent to a central Kalman navigation filter. This central processor
generates estimates of inertial navigation position, velocity, and
attitude errors IMU biases and user clock errors, which are
used to correct the navigation solution. In the UTC approach,
outputs from the central navigation processor, after projection
into satellite line-of-sight coordinates, are used to control the
code and carrier replica signals for each satellite channel. In
contrast, a conventional tightly coupled GPS/INS system uses
separate tracking loops for each satellite channel, which operate
autonomously. As a result, the UTC desig
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2006Analysis of an Ultra-Tightly Coupled.pdf
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