Fully-Coupled Kinematic GPS/IMU Algorithm

High accuracy and severe dynamic requirements is a must for the kinematic GPS/IMU integrated system used in the precise navigation and control of the tactical munitions. The technical challenges in the development of kinematic GPS/IMU algorithms used for the high dynamic environment of the tactical munitions are mainly phase integer ambiguity resolution methods, IMU V-A (velocity and acceleration) aided GPS tracking loop techniques and integrated navigation Kalman filter designs. In the Phase I project, a novel Fully-Coupled kinematic GPS/IMU Algorithm (FCKGA) will be investigated and developed for the high dynamic kinematic GPS/IMU navigation system for tactical munitions, that can also be widely used in many military/civilian applications, for instance, autonomous navigation and precise control of flight vehicles, aircraft precision approach and landing, aircraft automated takeoff and landing, spacecraft navigation and landing. The objectives of this Phase I project are to demonstrate and verify the innovative FCKGA algorithm through a simulation technique in order to accomplish the optimal kinematic GPS/IMU integration design. Therefore, the following Phase I efforts are specifically emphasized appropriate technologies that use IMU P-V-A aiding information: 1) Kinematic integrated GPS/IMU sensor errors analyses; 2) IMU V-A aiding tracking loop techniques; 3) On-the-fly phase ambiguity resolution, carrier cycle slip detection and identification, sensor failure identification and isolation; 4) Kinematic GPS/IMU navigation Kalman filter/estimator with the function of the system reconfiguration.