Real-time differential carrier phase GPS-aided INS

This article describes the implementation and experimental results of a rea l-time carrier phase differential global positioning system (GPS) aided ine rtial navigation system (INS). The implementation is the result of a study to analyze the capabilities of such a system relative to the requirements o f advanced vehicle control and safety systems (AVCSS) for intelligent trans portation systems. Such navigation systems have many application possibilit ies (e.g., aviation and precision flight, automated mining, precision farmi ng, dredging, satellite attitude control). Advantages and disadvantages of the GPS, INS, and differential GPS-aided INS approaches are discussed, The Implementation achieves 100-Hz vehicle state estimates with position accura cies at the centimeter level through the use of differential carrier phase GPS techniques.