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1、Tightly-CoupledGPS/INSSystemDesignforAutonomousUrbanNavigationIsaacMiller,BrianSchimpfandMarkCampbellJanLeyssensSibleySchoolofMechanicalandAerospaceEngineeringSeptentrioSatelliteNavigationCornellUniversity,Ithaca,NY14853Ubicenter,Philipssite5-3001Leuven,Belgium{itm2,bws22,mc28
2、8}@cornell.eduj.leyssens@septentrio.comAbstractThispaperanalyzesthedesigndecisionsmademoreapparentthanthe2005DARPAGrandChallenge,ainbuildingthetightly-coupledposition,velocity,andattitudeUnitedStatesgovernment-sponsored130miledesertraceinestimatorusedasapositionfeedbacksignalf
3、orautonomouswhichtheonlycompetitorswererobots.There,brittlenessnavigationinCornellUniversity’s2007DARPAUrbanChal-inCornellUniversity’sposeestimatorresultedininstabilitylengerobot,‘Skynet.’Astatisticalsensitivityanalysisiscon-ductedonSkynet’sestimatorbyexaminingthechangesinitsa
4、ndfailureafteronly9milesoftravel[11].outputascriticaldesigndecisionsarereversed.TheeffectsofTwoyearslater,theUnitedStatesgovernmentsponsoredfivedesigndecisionsareconsidered:mapaidingviacomputeranewroboticrace,the2007DARPAUrbanChallenge.Thisvisionalgorithms,inclusionofdifferenti
5、alcorrections,filterracewastotakeplaceinanurbansetting,witheachfullsizeintegritymonitoring,WAASaugmentation,andinclusionofrobottocompletea60milesetofmocksupplymissionscarrierphases.Theeffectsofextensivesignalblackoutsarealsoconsidered.Allestimatorvariantsarescrutinizedbothinwit
6、houthumanintervention,inacityfilledwithtraffic.astatisticalsenseandinapracticalsense,bycomparingeachCornell’s2005poseestimatorwasrewrittenfortheUrbanvariant’sperformanceonloggeddatarecordedatthe2007Challenge,underfullawarenessofthelessonslearnedintheDARPAUrbanChallenge.GrandChal
7、lengeandthenewdifficultiespresentintheurbanI.INTRODUCTIONenvironment.Ultimatelytheposeestimatorwassuccessful,andCornell’srobotwasoneofonlysixtocompletetheentireGlobalnavigationsatellitesystemsignalssuchasGPSand60mileUrbanChallenge[12],[13].deadreckoninginertialnavigationsystems
8、(INS)arewellTheremainderofthispaperexplainsandanalyzestheknow
