A Cost/Performance Analysis of Hybrid Inertial/Externally Referenced Positioning/Orientation Systems
Abstract
Combining inertial positioning or navigation systems with externally referenced aids such as the Global Positioning System (GPS) or the U.S. Army's Position Location Reporting System (PLRS) will result in significant improvements over one of these systems acting on its own. These improvements will include lower cost, since less accurate inertial systems can be used during periods when the external reference is unavailable, better immunity to jamming than in the case on only an externally referenced system, and higher accuracy than can be obtained with only an inertial system. This paper presents the results of an analysis of the position, heading, and attitude accuracies which can be obtained using various combinations of inertial and externally referenced systems. A computer simulation was performed to incorporate extensive error models for all of the sensors involved. A 24-state Kalman filter was used to control the errors. In addition, a cost versus performance analysis is presented based on representative subsystem costs and hybridization considerations.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 1985
- Accession Number
- ADA167685
Entities
People
- David A. Sobek
- Eugene J. Rose
- James T. Kouba
- Sam C. Bose
Organizations
- Geospatial Research Laboratory