GPS/INS generalized evaluation tool (GIGET) for the design and testing of integrated navigation systems

GIGET, the GPS/INS Generalized Evaluation Tool, experimentally tests, evaluates, and compares navigation systems that combine the Global Positioning System (GPS) with Inertial Navigation Systems (INS).; GPS is a precise and reliable navigation aid but can be susceptible to interference, multi-path, or other outages. An INS is very accurate over short periods, but its errors drift unbounded over time. Blending GPS with INS can remedy the performance issues of both. However, there are many types of integration methods, and sensors vary greatly, from the complex and expensive, to the simple and inexpensive. It is difficult to determine the best combination for any desired application; most of the integrated systems built to date have been point designs for very specific applications. GIGET aids in the selection of sensor combinations for any general application or set of requirements; hence, GIGET is the generalized way to evaluate the performance of integrated systems.; GIGET is a combination of easily re-configurable hardware and analysis tools that can provide real-time comparisons of multiple integrated navigation systems. It includes a unique, multi-antenna GPS receiver and a tactical grade inertial measurement unit. GIGET is quickly outfitted onto a variety of vehicle platforms to experimentally test and compare navigation performance.; In side-by-side experiments, GIGET compares loosely coupled and tightly coupled integrated navigation schemes blending navigation, tactical, or automotive grade inertial sensors with GPS. These results formulate a trade study to map previously uncharted territory of the GPS/INS space that trades accuracy and expense versus complexity of design. These GIGET results can be used to determine acceptable sensor quality in these integration methods for a variety of dynamic environments.; As a demonstration of its utility as a hardware evaluation tool, GIGET is used to design a navigation system on the DragonFly Unmanned Air Vehicle (UAV). The DragonFly UAV is a test-bed for autonomous control experiments. GIGET was flown on the DragonFly to evaluate different integrated navigation combinations in the UAV's dynamic environment. GIGET shows that a loosely coupled, single-antenna GPS system with a moderately priced inertial unit will provide the consistent navigation currently needed on the DragonFly.