A Frequency-Domain INS/GPS Dynamic Response Method for Bridging GPS Outages
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Bibliographic record
Abstract
We develop a new frequency-domain dynamic response method to model integrated Inertial Navigation System (INS) and Global Positioning System (GPS) architectures and provide an accurate impulse-response-based INS-only navigation solution when GPS signals are denied (GPS outages). The input to such a dynamic system is the INS-only solution and the output is the INS/GPS integration solution; both are used to derive the transfer function of the dynamic system using Least Squares Frequency Transform (LSFT). The discrete Inverse Least Squares Frequency Transform (ILSFT) of the transfer function is applied to estimate the impulse response of the INS/GPS system in the time domain. It is shown that the long-term motion dynamics of a DQI-100 IMU/Trimble BD950 integrated system are recovered by 72%, 42%, 75%, and 40% for north and east velocities, and north and east positions respectively, when compared with the INS-only solution (prediction mode of the INS/GPS filter). A comparison between our impulse response model and the current state-of-the-art time-domain feed-forward neural network shows that the proposed frequency-dependent INS/GPS response model is superior to the neural network model by about 26% for 2D velocities and positions during GPS outages.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.003 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it