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首页> 外文会议>ION Annual Meeting >Using the GPS/INS Generalized Evaluation Tool (GIGET) for the Comparison of Loosely Coupled, Tightly Coupled and Ultra-Tightly Coupled Integrated Navigation Systems
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Using the GPS/INS Generalized Evaluation Tool (GIGET) for the Comparison of Loosely Coupled, Tightly Coupled and Ultra-Tightly Coupled Integrated Navigation Systems

机译：使用GPS / INS推广评估工具（GIGET）进行松散耦合，紧密耦合和超紧密耦合的集成导航系统的比较

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摘要

GIGET, the GPS/INS Generalized Evaluation Tool, is used to experimentally test, evaluate, and compare navigation systems that combine the Global Positioning System (GPS) with Inertial Navigation Systems (INS). Most of the integrated systems built to date have been point designs for very specific applications. GIGET aids in the selection of sensor combinations for any general application or set of requirements. GIGET is the generalized way to evaluate the performance of integrated systems. This paper will present results using GIGET to compare loosely coupled, tightly coupled and ultra-tightly coupled integrated navigation schemes using navigation, tactical, or automotive grade inertial sensors with GPS. These GIGET results can be used to determine acceptable sensor quality for these integration methods for a variety of dynamic environments. GIGET is a combination of easily re-configurable hardware and analysis tools that can provide real-time comparisons of multiple navigation algorithms. It includes a unique, five-antenna, forty-channel GPS receiver providing GPS attitude, position, velocity, and timing. An embedded computer with modular real-time software blends the GPS measurements with sensor information from a Honeywell HG1700 tactical grade inertial measurement unit. GIGET can be quickly outfitted onto a variety of vehicle platforms to experimentally test and compare navigation performance.
机译：GIGET，GPS / INS推广评估工具用于通过实验测试，评估和比较将全球定位系统（GPS）与惯性导航系统（INS）组合的导航系统。迄今为止建立的大多数集成系统都是非常特定的应用程序的点设计。 Giget辅助在选择传感器组合中，以满足任何一般应用或要求的一组要求。 Giget是评估集成系统性能的广义方式。本文将使用Giget的结果使用GIGET比较使用具有GPS的导航，战术或汽车级惯性传感器的松散耦合，紧密耦合和超紧密耦合的集成导航方案。这些GIGET结果可用于确定这些集成方法的可接受的传感器质量，用于各种动态环境。 Giget是易于重新配置的硬件和分析工具的组合，可以提供多个导航算法的实时比较。它包括一个独特的五天线，四十通道GPS接收器，提供GPS姿态，位置，速度和时序。具有模块化实时软件的嵌入式计算机将GPS测量与来自霍尼韦尔HG1700战术级惯性测量单元的传感器信息混合。 Giget可以快速装备到各种车辆平台上以进行实验测试和比较导航性能。

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