Kalman filtering design techniques for aided GPS land navigation applications.

Position information obtained from standard GPS receivers is known to be corrupted with coloured (time-correlated) noise. To make effective use of GPS information in a navigation system it is essential to model this coloured noise and to incorporate additional sensing to de-correlate and eliminate its effect. In this paper frequency domain techniques are employed to generate a model for GPS noise sources. This model shows clearly what type and combination of additional sensor information is necessary to de-correlate GPS errors and to make best use of position information in navigation tasks. The frequency-domain methodology proposed has wider application in the design of sensor suites for highperformance navigation systems. Experimental results are presented demonstrating the method in fusing standard GPS latitude and longitude information with information from a velocity sensor.