Time-differenced carrier phase measurements for tightly coupled GPS/INS integration

A tightly coupled GPSANS system is characterized by the fact that pseudorange and deltarange measurements are processed in the navigation filter in order to estimate the errors of the inertial navigation solution and to calibrate the inertial measurement unit. In this paper, the usage of time differenced carrier phase measurements instead of the delta range measurements is proposed. Usually, DGPS corrections are required in order to exploit the high accuracy of the carrier phase measurements by removing the common mode errors like ionospheric errors, ephemeris errors, or satellite clock errors. Then, techniques like carrier aided smoothing or ambiguity fixing can be applied. With the approach described in this paper, DGPS corrections are not required. Additionally, a fixing of the integer ambiguities, which is especially difficult when a single frequency receiver is used, is not required either. Forming time differences of successive carrier phase measurements, the constant integer ambiguities and most of the slowly varying common mode errors are removed. These carrier phase differences do not allow for an absolute centimeter-level positioning as it can be achieved with a DGPS base station and an ambiguity fixing, but the noise in the position information is reduced and the accuracy of the velocity and attitude estimates are improved. Details of this approach are clarified and the processing of this type of measurement in the navigation filter is addressed. The improvement in performance is illustrated via hardware-in-the-loop test results and the analysis of flight test data collected with a micro aerial vehicle.