The performance of an Ultra-Tightly Coupled (UTC) Global Positioning System/Inertial Navigation System (GPS/INS) is evaluated using a system simulation of the GPS receiver and navigation processing. The UTC system being analyzed uses a bank of pre-filters to estimate code delay error and Doppler frequency error for each satellite. These outputs are sent to a central Kalman navigation filter. This central processor generates estimates of inertial navigation position, velocity, and attitude errors IMU biases and user clock errors, which are used to correct the navigation solution. In the UTC approach, outputs from the central navigation processor, after projection into satellite line-of-sight coordinates, are used to control the code and carrier replica signals for each satellite channel. In contrast, a conventional tightly coupled GPS/INS system uses separate tracking loops for each satellite channel, which operate autonomously. As a result, the UTC desig

2006Analysis of an Ultra-Tightly Coupled.pdf

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