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SNAP HOME > OUR WORK > THEME 3


THEME 3: MULTI-SENSOR INTEGRATION ALGORITHMS & APPLICATIONS

Academic staff members of the School of Surveying & Spatial Information Systems, University of New South Wales, now undertake research and teaching in areas beyond just the narrow areas of "satellite navigation and positioning" of the original SNAP group of the 1990s, to also embrace what may be referred to as "earth observation" (geodesy, airborne and satellite remote sensing and imaging). To better describe the range of activities in the exciting fields of satellite and ground-based wireless positioning, our research projects are grouped into several themes. Download our SNAP Lab Research Directions document to see what we'll be researching over the next few years. The SNAP Lab has also produced a Research Brochure that explains the range of research topics being undertaken, identifying opportunities for potential graduate students as well as research collaboration with external partners. ...email us for a hardcopy, or download a PDF version.

Theme 3 deals with research topics that are a comparatively recent focus for SNAP. The integration of GPSGNSS with other types of navigation sensors is a growing trend. The capability to develop an integrated hardware/software package, with the GPS/GNSS technology at its "heart", is seen by the SNAP Lab as very strategic. For SNAP papers relevant to this topic area click here ... More information on multi-sensor integration can be found here.

The obvious integration of GPS with an Inertial Navigation Systems (INS) sensor has been a richly researched area for many years. (See, for example, the IAG's Sub-Commission 4.1 "Multi-sensor Systems".) However, it was not until the SNAP Lab, in partnership with Curtin University of Technology, won an ARC-RIEF (Research Infrastructure Equipment & Facilities) grant in 1997 that INS research began in earnest. In 1999 the SNAP Lab were able to borrow the Boeing MIGITS (Miniature Integrated GPS/INS Tactical System), a solid-state integrated GPS+INS, also known as the DQI-NP (Digital Quartz IMU, Navigation Processor) for research purposes. In 2002, a MEMS-based Inertial Measurement Unit (IMU), the Crossbow IMU400CB 6-axis high dynamic IMU, was purchased. Since then several other MEMS-based IMUs have been purchased, including the 3DM-GX1 from MicroStrain Inc., the MTi from xSens Motion Technologies, and the Crista from Cloud Cap Technology Inc.


Crossbow IMU400

3DM-GX1

MTi

Crista

In summary, the SNAP Lab:

  • has a substantial research effort in loosely-, tightly- and ultra-tightly-coupled GNSS/INS integration hardware and software development, including theoretical/algorithm studies on different Kalman filtering schemes, RAIM, observability of navigation parameters, and quality control in general
  • has developed real-time loosely- and tightly-coupled GNSS/INS systems, using pseudo-range GPS data, based on its own Field Programmable Gate Array board technology
  • is developing a sohpisticated triple-integration (GNSS/INS/Locata) hardware & software system for research and industry applications
  • has a strong collaboration with the Satellite Positioning & Inertial Navigation laboratory at the Ohio State University
  • works closely with companies such as Leica Geosystems to develop algorithms for machine automation products, such as for farm equipment and opencut mining vehicles
  • owns a range of inertial sensors, GNSS receivers, and a Locata terrestrial positioning system

The SNAP Lab purchased a MATLAB toolkit to enable researchers to generate simulated IMU data. In 2001 AIMS (Airborne Integrated Mapping System), a software package for tightly-integrated GPS/INS data processing, was provided to the SNAP Lab by Prof. Dorota Grejner-Brzezinska of the Dept. of Civil & Environmental Eng. & Geodetic Science, Ohio State University (OSU). Hence SNAP was able to both generate simulated GPS/INS data, as well as process it offline. The SNAP Lab has a close collaboration with OSU that continues to this day, which has expanded to include integrated pseudolite/Locata systems.

Dr. Jinling Wang initiated a series of research topics into multi-sensor integration, to which Prof. Chris Rizos and A/Prof. Andrew Dempster also contribute today with several ARC and CRC-funded projects and research consultancies that support researchers Dr. Yong Li, Dr. Jack Wang and Dr. Yanrui Geng. The research grants that support, or have supported, multi-sensor integration research include a funded PhD scholarship (mid-2003-mid-2006), via an ARC-Linkage (APAI) project "Integration of GPS/Pseudolite/INS to Geo-Reference Airborne Surveying & Mapping Sensors", for former graduate student Jack Wang. An ARC-Discovery grant (2004-2006) "Robust Positioning Based on Ultra-Tight Integration of GPS, Pseudolites & Inertial Sensors", funded a new research initiative in ultra-tight integration of IMU data with GPS receivers to which former graduate student Ravi Babu and former visiting fellow Di Li contributed. The most recent funding are provided by an ARC-Linkage (2006-2009) grant "Sensor Integration for Low-Cost Robust Agricultural Machine Automation", an ARC-Linkage (2006.5-2009.5) grant "Structural Deformation Monitoring Integrating a New Wireless Positioning Technology with GPS", and an ARC-Discovery grant (2007-2009) "A Combined Inertial, Satellite & Terrestrial Signal Navigation Device for High Accuracy Positioning & Orientation of Underground Imaging Systems".

The CRC for Spatial Information, via Project 1.3 "Integrated Positioning &Geo-Referencing Platform", supported Senior Research Associate Dr. Yong Li and a PhD scholarship (for John Ding). This project (mid-2004 to mid-2007) had as its objective the development of a low-cost integration platform (for GPS & IMU sensors) for real-time operation based on an FPGA design. This was successful, and this platform forms the basis for current research into multi-sensor integration including the development of a real-time, carrier phase version. See YouTube video... http://www.youtube.com/watch?v=MesFiHtxH-8

Former PhD students who researched integrated GPS/INS(/pseudolite) systems are H.K. Lee (2001-2004), Steve Hewitson (2003-2006), Ravi Babu (mid-2003-2006), Jack Wang (mid-2003-2007), John Ding (2004-2007). Current students working on multi-sensor integration projects are Anthony Cole, Dennis Entriken and Paul Solomon. In 2004, a visiting fellow from Korea, A/Prof. Dong Hwan Hwang, of Chungnam National University, and Maurizio Fantino, of the Politecnico of Turin (Italy) assisted the multi-sensor integration group in further research into GPS/INS. During 2007-2008 several visiting PhD students from China are working with Dr. Jinling Wang and Dr. Yong Li on aspects of GPS/INS integration.

GPS/INS/Pseudolite Integration

The second navigation sensor to be integrated with GPS/GNSS was the "pseudolite" (see Theme 4). SNAP purchased its first pseudolite (PL) in 1999. Although now an active area of research of its own, from the beginning the integration of GPS and PLs (and later GPS/INS/PL) has been an important topic of research.


GPS/INS/PL trials using the SNAP Lab robotic electric car

Ben Soon, a former graduate student, has researched the integration of GPS and PLs for assisting in aircraft landing systems during 2002-03. Dr. Toshiaki Tsujii, a researcher from Japan's National Aerospace Laboratory (now JAXA) assisted the GPS/PL research over a two year period (2001-2003). The first PhD student to research integrated GPS/INS/pseudolite systems was H.K. Lee (2001-2004), the second was Steve Hewitson (2003-2006), followed by Jack Wang (mid-2003-2007), and John Ding (2004-2007). Ravi Babu commenced research on GPS/INS/PL ultra-tight integration in mid-2003 (completing it at the end of 2006).

The AIMS software has been modified by former graduate student H.K. Lee to allow the processing of the full set of GPS/INS/PL data. SNAP, in partnership with OSU researchers, was the first research group in the world to have integrated these three sensors. Nowadays the Locata technology is preferred over the "standard" pseudolite (see Theme 4). More information on GPS, INS & PL integration can be found ... click here.

Future Work

  • Dr. Jinling Wang and assistants are currently investigating the integration also of vision systems, in particular for UAV (Unmanned Aerial Vehicle) applications.
  • Multi-sensor integration is also a topic for engineering structural monitoring (see Theme 2) .
  • Multi-sensor integration is also required for a new indoor/personal navigation project (see Theme 4).
  • There is also a significant effort to develop a generic software system for tight & loose integration of GNSS/INS for real-time, carrier phase-based positioning applications. This project is led by Dr. Yong Li, who is also working to integrated Locata within this system.

More information on multi-sensor integration can be found here.

The current activities and challenges in Theme 3 can be summarised as:

  1. Ultra-tight GPS/IMU integration seeks to use the IMU data to aid the GPS tracking loops. Current research is being undertaken using MATLAB and simulated data. Such a project provides an opportunity to gain fundamental knowledge about the low-level operations of a GPS receiver. This work has close links to the software-receiver research in Theme 5, and will continue using the Namuru FPGA-based GPS/GNSS receiver.

  2. Real-time multi-sensor integration software and hardware platform has as its objective the development of a platform to support real-time geo-referencing for high accuracy applications such as imaging or scanning systems. This project commenced as the CRC-SI Project 1.3, and in late 2007 delivered a positioning and attitude determination system (GPS/INS) based on Field Programmable Gate Array (FPGA) technology. This is currently being extended in several ways, including incorporating GNSS carrier phase data processing and triple integration with the Locata sensor technology.

    FPGA-based GPS/INS data logger

    Real-time SW showing GPS/INS integrated results


  3. MEMS-IMU investigations; the promise of low-cost Micro-Electro-Mechanical Systems (MEMS)-based Inertial Measurement Units (3-axis accelerometers & turnrate sensors) is something of a "holy grail" for precise navigation. Current MEMS-IMUs have very large sensor bias and drift errors which makes their integration with GPS/GNSS problematic (because of the very short period that an integrated GNSS/INS can "coast" without GNSS input before the growth in positioning error from the unaided IMU becomes unacceptably large). However there is much research being undertaken into MEMS-IMU which will lead, in time, to significantly improved IMU performance. SNAP researchers, in collaboration with partners, are monitoring research trends in MEMS-IMU in order to be able to exploit such developments as they occur. An ARC-funded project (2007.5-2010.5) is focussed on GPS/INS integration for machine automation, with Leica Geosystems as the industry partner.


  4. GPS/PL aircraft applications; since 2001 the feasibility of integrated GPS and pseudolite (PL) systems for airborne applications has been under study by SNAP researchers. Initially this was with respect to the use of PL signals from stationary stratospheric airships to augment GPS signals for ground users. However during 2003-2004 R&D was undertaken into developing an integrated GPS/PL aircraft landing system. Research is now focussed on the UAV as the airborne platform, and will incorporate additional sensors/capabilities such as vision, Locata, other GNSS data and map-matching.


    Ground-based pseudolite next to airstrip for aircraft landing studies

  5. Other multi-sensor integration applications; farm machinery automation ("driverless tractors") is an important high accuracy, high reliability application area for sensor integration research. An ARC-funded project is investigating low-cost IMU/GNSS integration. A new indoor/personal navigation project will integrate a variety of sensor technologies (including WiFi, RFID, UWB). The triple-integration of GNSS/INS/Locata is funded by the ARC, with the objective to develop a high accuracy positioning/orientation system to support underground mapping (e.g. ground penetrating radar) systems but will have wider applicability in the general field of robotics and autonomous navigation.

A Short History ...

The following is a sample of "Multi-Sensor Integration" research carried out by SNAP Lab researchers:

  1. Integration of GPS with Pseudolites (1999-2002): fundamental modelling research and algorithm development was undertaken by former graduate students Liwen Dai (see DAI, L., 2002, Augmentation of GPS with Glonass and Pseudolite Signals for Carrier Phase-Based Kinematic Positioning, UNISURV S-72) and H.K. Lee (see LEE, H.K., 2004, Integration of GPS/Pseudolite/INS for High Precision Kinematic Positioning and Navigation, UNISURV S-76), and former visiting fellow Dr. Toshiaki Tsujii. This work involved unsynchronised pseudolites. Sample papers (see also Theme 4):

    BARNES, J., WANG, J., RIZOS, C., NUNAN, T., & REID, C., 2002. The development of a GPS/pseudolite positioning system for vehicle tracking at BHP Billiton steelworks. 15th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Portland, Oregan, 24-27 September, 1779-1789.(Download PDF)
    DAI, L., WANG, J., TSUJII, T., & RIZOS, C., 2001. Pseudolite applications in positioning and navigation: Modelling and geometric analysis. Int. Symp. on Kinematic Systems in Geodesy, Geomatics & Navigation (KIS2001), Banff, Canada, 5-8 June, 482-489. (Download PDF)
    DAI, L., WANG, J., TSUJII, T., & RIZOS, C., 2001. Pseudolite-based inverted positioning and its applications. 5th Int. Symp. on Satellite Navigation Technology & Applications, Canberra, Australia, 24-27 July, paper 9, CD-ROM proc. (Download PDF)
    DAI, L., WANG, J., TSUJII, T., & RIZOS, C., 2002. Inverted pseudolite positioning and its applications. Survey Review, 36(286), 602-611. (Download PDF)
    KANLI, M., 2004. Limitations of pseudolite systems using off-the-shelf GPS receivers. 2004 Int. Symp. on GNSS/GPS, Sydney, Australia, 6-8 December. (Download PDF)
    TSUJII, T., HARIGAE, M., BARNES, J., WANG, J., & RIZOS, C., 2002. A preliminary test of the pseudolite-based inverted GPS positioning in kinematic mode. 2nd Symp. on Geodesy for Geotechnical & Structural Applications, Berlin, Germany, 21-24 May, 442-451. (Download PDF)
    WANG, J., TSUJII, T., RIZOS, C., DAI, L., & MOORE, M., 2000. Integrating GPS and pseudolite signals for position and attitude determination: Theoretical analysis and experiment results. 13th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Salt Lake City, Utah, 19-22 September, 2252-2262. (Download PDF)
    WANG, J., TSUJII, T., RIZOS, C., DAI, L., & MOORE, M., 2001. GPS and pseudo-satellites integration for precise positioning. Geomatics Research Australasia, 74, 103-117. (Download PDF)
    WANG, J., RIZOS, C., DAI, L., TSUJII, T., BARNES, J., GREJNER-BRZEZINSKA, D., & TOTH, C.K., 2001. Integration of GPS and pseudo-satellites: New concepts for precise positioning. IAG Scientific Assembly, Budapest, Hungary, 2-7 September, CD-ROM proc. Symp. C3 "New Concepts in Engineering Geodesy", paper 2. (Download PDF)
  2. Airborne Applications of Integrated GPS/Pseudolite Systems: contributed to by former visiting fellow Dr. Toshiaki Tsujii, and former graduate students H.K. Lee, Ben Soon, & Jack Wang:

    LEE, H.K., WANG, J., RIZOS, C., BARNES, J., TSUJII, T., & SOON, B.K.H., 2002. Analysis of pseudolite augmentation for GPS airborne applications. 15th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Portland, Oregan, 24-27 September, 2610-2618. (Download PDF)
    LEE, H.K., WANG, J., SOON, B.K.H., BARNES, J., WANG, J.G., & RIZOS, C., 2004. Flight test results of an integrated GPS/INS/pseudolite system for aircraft precision approach and landing. Int. Symp. on Inertial Navigation & Intelligent Traffic, Nanjing, P.R. China, 15-17 October, CD-ROM proc., paper B34. (Download PDF)
    LEE, H.K., WANG, J., RIZOS, C., & TSUJII, T., 2005. Augmenting GPS by ground-based pseudolite signals for airborne surveying applications. Survey Review, 38(296), 88-99. (Download PDF)
    SOON, B.H.K., POH, E.K., BARNES, J., LEE, H.K., ZHANG, J., LEE, H.K., & RIZOS, C., 2003. Preliminary results of the carrier-smoothed code-phase differential GPS/pseudolite system. 6th Int. Symp. on Satellite Navigation Technology Including Mobile Positioning & Location Services, Melbourne, Australia, 22-25 July, CD-ROM proc., paper 48. (Download PDF)
    SOON, B.H.K., POH, E.K., BARNES, J., ZHANG, J., LEE, H.K., LEE, H.K., & RIZOS, C., 2003. Flight test results of precision approach and landing augmented by airport pseudolites. 16th Int. Tech. Meeting of the Satellite Division of the U.S. Institute of Navigation, Portland, Oregan, 9-12 September, 2318-2325. (Download PDF)
    SOON, B.K.H., BARNES, J., LEE, H.K., ZHANG, J., RIZOS, C., WANG, J., & LEE, H.K., 2004. Real-time flight test results of an integrated GPS/INS/pseudolite autolanding system. GNSS2004, Rotterdam, The Netherlands, 16-19 May, CD-ROM proc., paper 16. (Download PDF)
    TSUJII, T., RIZOS, C., WANG, J., DAI, L., ROBERTS, C., & HARIGAE, M., 2001. A navigation/positioning service based on pseudolites installed on stratospheric airships. 5th Int. Symp. on Satellite Navigation Technology & Applications, Canberra, Australia, 24-27 July, paper 49, CD-ROM proc. (Download PDF)
    TSUJII, T., WANG, J., RIZOS, C., DAI, L., HARIGAE, M., INAGAKI, T., FUJIWARA, T., & KATO, T., 2001. A technique for precise positioning of High Altitude Paltforms System (HAPS) using a GPS ground reference network. 14th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Salt Lake City, Utah, 11-14 September, 1017-1026. (Download PDF)
    TSUJII, T., HARIGAE, M., BARNES, J., WANG, J., & RIZOS, C., 2002. Experiments of inverted pseudolite positioning for airship-based GPS augmentation system. 15th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Portland, Oregan, 24-27 September, 1689-1695. (Download PDF)
    WANG, J.J., 2005. Modelling and geometry design for pseudolite augmented airborne DGPS. 18th Int. Tech. Meeting of the Satellite Division of the U.S. Institute of Navigation, Long Beach, California, 13-16 September, 2076-2082. (Download PDF)
    WANG, J.J., WANG, J., KEARSLEY, A.H.W., & LEE, H.K., 2004. Pseudolite augmentation for GPS aided aerial photogrammetry: An analysis of systematic errors. Geomatics Research Australasia, 81, 30-44.(Download PDF)
    WANG, J.J., WANG, J., SINCLAIR, D., & WATTS, L., 2006. High-accuracy airborne GPS/INS positioning augmented by pseudolite. U.S. Institute of Navigation National Tech. Meeting, Monterey, California, 18-20 January, 515-522. (Download PDF)
    WANG, J.J., WANG, J., SINCLAIR, D., & WATTS, L., 2006. Designing a neural network for airborne GPS/INS/PL integration. Symp. on GPS/GNSS (IGNSS2006), Surfers Paradise, Australia, 17-21 July, CD-ROM procs. (Download PDF)
    WANG, J.J., WANG, J., SINCLAIR, D., & WATTS, L., 2007. Flight test of a GPS/INS/Pseudolite integrated system for airborne mapping. Spatial Sciences Conference, Hobart, Australia, 14-18 May, 108-118. (Download PDF)
  3. Applications of Integrated Systems:

    BARNES, J., WANG, J., RIZOS, C., NUNAN, T., & REID, C., 2002. The development of a GPS/pseudolite positioning system for vehicle tracking at BHP Billiton steelworks. 15th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Portland, Oregan, 24-27 September, 1779-1789.(Download PDF)
    BARNES, J., RIZOS, C., WANG, J., MENG, X., DODSON, A.H., & ROBERTS, G.W., 2003. The monitoring of bridge movements using GPS and pseudolites. 11th Int. Symp. on Deformation Measurements, Santorini, Greece, 25-28 May, 563-572. (Download PDF)
    ENTRIKEN, D., & RIZOS, C., 2007.  Application of mobile mapping technology within a roads and traffic authority.  IGNSS2007 Symp. on GPS/GNSS, Sydney, Australia, 4-6 December, paper 118, CD-ROM procs. (Download PDF)
    MENG, X., ROBERTS, G.W., DODSON, A.H., COSSER, E., BARNES, J., & RIZOS, C., 2004. Impact of GPS satellite and pseudolite geometry on structural deformation monitoring: Analytical and empirical studies. Journal of Geodesy, 77, 809-822. (Download PDF)

  4. Integration of GPS, INS & Pseudolites: fundamental modelling research and algorithm development was primarily undertaken by former graduate student H.K. Lee (see LEE, H.K., 2004, Integration of GPS/Pseudolite/INS for High Precision Kinematic Positioning and Navigation, UNISURV S-76). Sample papers:

    LEE, H.K., 2002. GPS/pseudolite/SDINS integration approach for kinematic applications. 15th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Portland, Oregan, 24-27 September, 1464-1473. (Download PDF)
    LEE, H.K., WANG, J., RIZOS, C., & GREJNER-BRZEZINSKA, D., 2004. Analysing the impact of integrating pseudolite observations into a GPS/INS system. Journal of Surveying Engineering, 130(2), 95-103. (Download PDF)
    LEE, H.K., WANG, J., RIZOS, C., GREJNER-BRZEZINSKA, D., & TOTH, C., 2002. GPS/pseudolite/INS: Concept and first tests. GPS Solutions, 6(1-2), 34-46. (Download PDF)
    LEE, H.K., WANG, J., RIZOS, C., & PARK, W.Y., 2003. Carrier phase processing issues for high accuracy integrated GPS/Pseudolite/INS systems. 11th Int. Assoc. of Institutes of Navigation World Congress, Berlin, Germany, 21-24 October, CD-ROM proc., paper 252. (Download
    WANG, J.J., 2007.  Integration of GPS, INS and pseudolite to geo-reference surveying and mapping systems.  PhD thesis, School of Surveying & Spatial Information Systems, University of New South Wales, Sydney, Australia. http://www.library.unsw.edu.au/~thesis/adt-NUN/public/adt-NUN20070718.181327/ (Digital Thesis).
    WANG, J., & LEE, H.K., 2002. Impact of pseudolite location errors on positioning. Geomatics Research Australasia, 77, 81-94. (Download PDF)
    WANG, J., BABU, R., LI, D., CHAN, F., & CHOI, J., 2007. Integrating GPS/INS/PL for robust positioning: The challenging issues and progresses. Coordinates, 3(7), 12-19. (Download PDF)
    WANG, J., DAI, L., TSUJII, T., RIZOS, C., GREJNER-BRZEZINSKA, D., & TOTH, C.K., 2001. GPS/INS/Pseudolites: Concepts, simulation and testing. 14th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Salt Lake City, Utah, 11-14 September, 2708-2715. (Download PDF)
    YI, Y., GREJNER-BRZEZINSKA, D., TOTH, C., WANG, J., & RIZOS, C., 2003. An integrated positioning system: GPS+INS+Pseudolites. GPS World, 14(7), 42-49.

  5. Integration Algorithm Research: sensitivity analysis, Kalman filter schemes; quality control; "virtualite" concept; attitude determination; and functional & stochastic models for sensor integration. Contributions by former graduate students H.K. Lee, Steve Hewitson, Ben Soon, Jack Wang and John Ding. Also Wan Fu (see FU, W.X., 1996, A Study of GPS and Other Navigation Systems for High Precision Navigation and Attitude Determination, UNISURV S-45). Current contributions also from Anthony Cole and Paul Solomon:

     COLE, A., WANG, J., & DEMPSTER, A.G., 2007. Quality control for carrier phase GPS/INS integrated systems for machine automation. ENC-GNSS2007, Geneva, Switzerland, 29 May - 1 June, 682-689. (Download PDF)
    COLE, A., WANG, J., DEMPSTER, A.G., & RIZOS, C., 2007.  VirtuaLite, a new method for GPS INS integration for the agricultural environment.  IGNSS2007 Symp. on GPS/GNSS, Sydney, Australia, 4-6 December, paper 66, CD-ROM procs. (Download PDF)
    DING, W., 2007. Integration of MEMS INSW with GPS carrier derived velocity: A new approach. 20th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Fort Worth, Texas, 25-28 September, 2085-2093. (Download PDF)
    DING, W., & WANG, J., 2007.  Vehicle dynamics based de-noising for GPS/INS integration.  IGNSS2007 Symp. on GPS/GNSS, Sydney, Australia, 4-6 December, paper 126, CD-ROM procs. (Download PDF)
    DING, W., WANG, J., & RIZOS, C., 2006. Improving covariance based adaptive estimation for GPS/INS integration. 12th IAIN Congress & 2006 Int. Symp. on GPS/GNSS, Jeju, Korea, 18-20 October, 259-264. (Download PDF)
    DING, W., WANG, J., RIZOS, C., & KINLYSIDE, D., 2007. Improving adaptive Kalman estimation in GPS/INS integration. Journal of Navigation, 60(3), 517-529. (Download PDF)
    DING, W., WANG, J., & RIZOS, C., 2006. Stochastic modelling strategies in GPS/INS data fusion process. Symp. on GPS/GNSS (IGNSS2006), Surfers Paradise, Australia, 17-21 July, CD-ROM procs. (Download PDF)
    FU, W.X. & RIZOS, C., 1996. On the GPS navigation models. Proc. Int. Symp. on GPS, Digital Photogrammetry Systems, Remote Sensing and Geographical Systems (Geo-Informatics'96), Wuhan, P.R. China, 16-19 October, vol.1, 83-91.
    FU, W.X. & RIZOS, C., 1997. The development of modern inertial navigation systems. Proc. 3rd Satellite Navigation Technology Conf., Sydney, Australia, 8-10 April, paper no. 11.
    HEWITSON, S., 2006.  Quality control for integrated GNSS and inertial navigation systems.  PhD thesis, School of Surveying & Spatial Information Systems, University of New South Wales, Sydney, Australia. http://www.library.unsw.edu.au/~thesis/adt-NUN/public/adt-NUN20061124.115938/ (Digital Thesis here...)
    HEWITSON, S., & WANG, J., 2007. GNSS Receiver Autonomous Integrity Monitoring (RAIM) with a dynamic model. Journal of Navigation, Royal Institute of Navigation, 60(2), 247-263. (Download PDF)
    HEWITSON, S., WANG, J., & LEE, H.K., 2004. Impact of dynamic information on GNSS receiver integrity monitoring. 2004 Int. Symp. on GNSS/GPS, Sydney, Australia, 6-8 December. (Download PDF)
    LEE, H.K., 2002. GPS/pseudolite/SDINS integration approach for kinematic applications. 15th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Portland, Oregan, 24-27 September, 1464-1473. (Download PDF)
    LEE, H.K., HEWITSON, S., & WANG, J., 2004. Web-based resources on GPS/INS integration. GPS Solutions, 8(3), 189-191. (Download PDF)
    LEE, H.K., WANG, J., & RIZOS, C., 2003. Effective cycle slip detection and identification for high precision integrated GPS/INS systems. The Journal of Navigation , 56, 475-486. (Download PDF) LI, Y., WANG, J., & RIZOS, C., 2006. Comparison of the extended and sigma-point Kalman filters on inertial sensor bias estimation through tight integration of GPS and INS. 19th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Fort Worth, Texas, 26-29 September, 1625-1634. (Download PDF)
    LI, Y., WANG, J., RIZOS, C., MUMFORD, P.J., & DING, W., 2006. Low-cost tightly coupled GPS/INS integration based on a nonlinear Kalman filter design. U.S. Institute of Navigation National Tech. Meeting, Monterey, California, 18-20 January, 958-966. (Download PDF)
    WANG, J.J., DING, W., & WANG, J., 2007. Improving adaptive Kalman Filter in GPS/SDINS integration with neural network. 20th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Fort Worth, Texas, 25-28 September, 571-578. (Download PDF)
    WANG, J., LEE, H.K., & RIZOS, C., 2003. GPS/INS integration: A performance sensitivity analysis. Wuhan University Journal of Nature Sciences, 8(2B), 508-516. (Download PDF)
    WANG, J.J., WANG, J., SINCLAIR, D., & WATTS, L., 2006. A neural network and Kalman filter hybrid approach for GPS/INS integration. 12th IAIN Congress & 2006 Int. Symp. on GPS/GNSS, Jeju, Korea, 18-20 October, 277-282. (Download PDF)

  6. Hardware R&D: in addition to the theoretical and algorithm research activities, considerable effort is being invested in the development of sensor-integration hardware, some of it based on the Field Programmable Gate Array technologies used for the Namuru GNSS receiver research:

     GENG, Y., COLE, A., DEMPSTER, A.G., RIZOS, C., & WANG, J., 2007. Developing a low-cost MEMS IMU/DGPS integrated system for robust machine automation. 20th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Fort Worth, Texas, 25-28 September, 1618-1624. (Download PDF)
    LI, Y., DEMPSTER, A.G., LI, B., WANG, J., & RIZOS, C., 2006. A low-cost attitude heading reference system by combination of GPS and magnetometers and MEMS inertial sensors for mobile applications. Journal of Global Positioning Systems, 5(1-2), 88-95. (Download PDF)
    LI, Y., MUMFORD, P., WANG, J., & RIZOS, C., 2007.  A low-cost field re-configurable real-time GPS/INS integrated system – Design and implementation.  IGNSS2007 Symp. on GPS/GNSS, Sydney, Australia, 4-6 December, paper 42, CD-ROM procs. (Download PDF)

  7. Time Synchronisation for Integrated Systems:

    DING, W., WANG, J., LI, Y., MUMFORD, P., & RIZOS, C., 2008. Time synchronisation error and calibration in integrated GPS/INS systems. Journal of ETRI (Electronics & Telecommunications Research Institute, Korea), 30(1), 59-67. (Download PDF)
    LI, Y., MUMFORD, P.J., WANG, J., RIZOS, C., & DING, W., 2006. Time synchronization analysis of an FPGA based GPS/INS integrated system. Symp. on GPS/GNSS (IGNSS2006), Surfers Paradise, Australia, 17-21 July, CD-ROM procs. (Download PDF)
    MUMFORD, P.J., LI, Y., WANG, J., RIZOS, C., & DING, W., 2006. A time-synchronization device for tightly coupled GPS/INS integration. Symp. on GPS/GNSS (IGNSS2006), Surfers Paradise, Australia, 17-21 July, CD-ROM procs. (Download PDF)

  8. Ultra-Tight (or Deeply-Coupled) Integration of GPS/INS/PL: An ARC grant (2004-2006) "Robust Positioning Based on Ultra-Tight Integration of GPS, Pseudolites & Inertial Sensors" supported first studies in this area by former graduate student Ravi Babu and former visiting fellow Di Li:

     BABU, R., 2004. Mitigating the correlations in INS-aided GPS tracking loop measurements: A Kalman filter based approach. 17th Int. Tech. Meeting of the Satellite Division of the U.S. Institute of Navigation, Long Beach, California, 21-24 September. (Download PDF)
    BABU, R., & WANG, J., 2004. Improving the quality of IMU-derived Doppler estimates for ultra-tight GPS/INS integration. GNSS2004, Rotterdam, The Netherlands, 16-19 May. (Download PDF)
    BABU, R., & WANG, J., 2004. Comparative study of interpolation techniques for ultra-tight integration of GPS/INS/PL sensors. 2004 Int. Symp. on GNSS/GPS, Sydney, Australia, 6-8 December. (Download PDF)
    BABU, R., & WANG, J., 2005. Analysis of INS-derived Doppler effects on carrier tracking loop. The Journal of Navigation, 58(3), 1-15. (Download PDF)
    BABU, R., & WANG, J., 2005. Comparative study of interpolation techniques for ultra-tight integration of GPS/INS/PL sensors. Journal of GPS, 4(1-2), 192-200. (Download PDF)
    BABU, R., & WANG, J., 2006. Ultra-tight integration of pseudolites and INS. IEEE/ION PLANS, San Diego, California, 25-27 April, 705-714. (Download PDF)
    BABU, R., & WANG, J., 2007.  Real-time data analysis of ultra-tight GPS/INS integration.  IGNSS2007 Symp. on GPS/GNSS, Sydney, Australia, 4-6 December, paper 125, CD-ROM procs. (Download PDF)
    LI, D., & WANG, J., 2006. Kalman filter design strategies for code tracking loop in ultra-tight GPS/INS/PL integration. U.S. Institute of Navigation National Tech. Meeting, Monterey, California, 18-20 January, 984-992. (Download PDF)
    LI, D., & WANG, J., 2006. A Kalman filter-based tracking loop design for the ultra-tight integration of GPS/INS. IEEE/ION PLANS, San Diego, California, 25-27 April, 291-299. (Download PDF)
    LI, D., & WANG, J., 2006. Performance analysis of the ultra-tight GPS/INS integration based on an improved Kalman filter design for tracking loops. Symp. on GPS/GNSS (IGNSS2006), Surfers Paradise, Australia, 17-21 July, CD-ROM procs. (Download PDF)
    LI, D., WANG, J., BABU, R., & XIONG, Z.L., 2005. Nonlinear stochastic modelling for INS-derived Doppler estimates in ultra-tight GPS/PL/INS integration. Int. Symp. on GPS/GNSS, Hong Kong, 8-10 December, paper 7C-04, CD-ROM procs. (Download PDF)
    LI, D., WANG, J., & BABU, R., 2005. Enhancing the performance of ultra-tight integration of GPS/PL/INS: A federated filter approach. Int. Symp. on GPS/GNSS, Hong Kong, 8-10 December, paper 5A-05, CD-ROM procs. (Download PDF)

 


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