Onboard Pseudolite Augmentation System for Relative Navigation

GPS carrier phase positioning can provide accurate measurements of relative position and attitude between multiple vehicles. In environments without adequate signal coverage from the NAVSTAR GPS satellites, the available signals can be augmented with pseudolites onboard the vehicles in the formation. This paper experimentally demonstrates the feasibility of such a system, with a formation of three vehicles. In addition, this paper examines some of the robustness issues with such a setup, specifically in dealing with re-initialization of the carrier phase integers