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Tightly-coupled GPS/UWB Integration

Published online by Cambridge University Press:  01 December 2009

Glenn MacGougan ,
Kyle O'Keefe  and
Richard Klukas
Glenn MacGougan*
Affiliation:
(Geomatics Engineering, University of Calgary)
Kyle O'Keefe
Affiliation:
(Geomatics Engineering, University of Calgary)
Richard Klukas
Affiliation:
(School of Engineering, University of British Columbia, Okanagan)
*
(Email: kyle.okeefe@ucalgary.ca)
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Abstract

Ultra-wideband (UWB) ranging radios, an emerging technology that offers precise, short distance range measurements are investigated as a method to augment carrier-phase GPS positioning. A commercially available UWB ranging system is used in a tightly-coupled GPS and UWB real-time kinematic (RTK) system. The performance of the tightly-coupled system is evaluated in static and kinematic testing. This work demonstrates that UWB errors can be successfully estimated in a real-time filter. The results of static testing show that the integrated solution provides better accuracy, better ability to resolve integer ambiguities and enhanced fixed ambiguity solution availability compared with GPS alone. In kinematic testing in a degraded GPS environment, sub-decimetre accuracy was maintained.

Keywords

UWBTightly-coupledGPSRTK
Type
Research Article
Information
The Journal of Navigation , Volume 63 , Issue 1 , January 2010 , pp. 1 - 22
Copyright
Copyright © The Royal Institute of Navigation 2009

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