GPS noise performance

I'm developing a Kalman filter-based GPS/INS integration system, and I'm worried about one of my core assumptions in testing. I've been assuming that the u-blox 5 GPS produces a 4 Hz true fix (v5.0 firmware), with one-sigma RMS position error of 10 m and 0.1 m/s of velocity error (based on true dopper rates). Are these assumptions reasonable based on the actual observed performance of the modules?

Thanks,
-Jonathan

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –

Replies

  • Jonathan,

    The UBlox outputs a position accuracy estimate in the binary protocol. I am planning on using that for the position error sigma. I was also assuming the same velocity error of 0.1 m/s.

    I am only going to use the GPS data at 1 Hz since the inertial drift difference between 250 ms and 1000 ms is negligable. I don't think you will get any better performance out of the GPS/INS running it at a higher rate. My $0.02.

    Tom
  • 3D Robotics
    Please see this thread for all you could ever want on this question.
This reply was deleted.

Activity

Neville Rodrigues liked Neville Rodrigues's profile
Jun 30
Santiago Perez liked Santiago Perez's profile
Jun 21
More…