GPS / INS integration with the iMAR-FSAS IMU
Kennedy, Sandy, Jason Hamilton and Hugh Martell
This paper discusses NovAtel's approach to GPS/INS system architecture and presents results from the Synchronized Position Attitude Navigation (SPAN) system. In addition to other IMU choices, the SPAN system integrates the iMAR-FSAS IMU, a German manufactured FOG based IMU, with high quality dual frequency GPS measurements. The performance of SPAN with the iMAR-FSAS will be discussed in herein. The iMAR-FSAS is equivalent to a tactical grade IMU, but it is designed for the civilian market and is subject to German export regulations. The majority of SPAN users utilize the system for mobile mapping applications, like Lidar mapping or aerial imaging. The IMU integration is tightly coupled to the GNSS receiver core, with both the GNSS and inertial processing benefiting from the integration. The inertial processing provides a position, velocity, and attitude solution that is continuously available, even if GNSS signals are not. GNSS updates, in both the position and measurement domain, control the time dependent errors of the IMU. GNSS performance is improved with the integration of inertial measurements, allowing for faster signal reacquisition and faster return to a fixed integer carrier phase (RTK) solution after signal outage. SPAN provides a real-time solution computed on board the OEMV receiver, and a post-processed solution is also available using Waypoint's Inertial Explorer processing package from NovAtel's Waypoint Processing Group.
Event: XXIII International FIG Congress : Shaping the change
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