Non-Linear Modeling of Pseudorange Errors for Centralized Non-Linear Multi-Sensor System Integration Umar Iqbal 1,3 , Jacques Georgy 2 , Walid F. Abdelfatah 2 , Mohammad Tamazin 1 , Michael Korenberg 1 , and Aboelmagd Noureldin 3,1 1 Electrical and Computer Engineering Department, Queen’s University, Canada, 2 Trusted Positioning Inc., Canada 3 Electrical and Computer Engineering Department, Royal Military College of Canada BIOGRAPHY Dr. Umar Iqbal is Adjunct Assistant Professor at the Department of Electrical and Computer Engineering (ECE) of Queen’s University. He is also working as Postdoctoral Fellow at Navigation and Instrumentation research group at Royal Military College (RMC) of Canada. His research focuses on the development and improvement of integrated positioning and navigational technologies, and other multi- sensor systems. He holds Ph.D. degree in ECE (2012) from Queen’s University and Masters of ECE (2008) from RMC. He also holds M.Sc. of Electronics Engineering (2004) from GIK Institute and B.Sc. in ECE (1993) from University of Engineering and Technology, Lahore, Pakistan. He is serving as Secretary of IEEE Kingston Section and Member of Senate Committee on Academic Development at Queen's University. Dr. Jacques Georgy is the VP of Research and Development at Trusted Positioning Inc., Calgary, AB, Canada. He received his Ph.D. degree in Electrical and Computer Engineering from Queen’s University, Canada in 2010. He received the B.Sc. and M.Sc. degrees in Computer and Systems Engineering from Ain Shams University, Egypt, in 2001 and 2007, respectively. He is working in positioning and navigation systems for portable, vehicular, and machinery applications. His research interests include linear and nonlinear state estimation, positioning and navigation systems, autonomous mobile robot navigation, and underwater target tracking. Walid F. Abdelfatah is the Lead Systems Designer in Trusted Positioning Inc. He received his M.A.Sc. degree in Electrical and Computer Engineering from Queen’s University in 2010 and his B.Sc. degree in 2007 from the Department of Computer and Systems Engineering at Ain Shams University, Egypt. His work in Trusted Positioning Inc. is focused on embedded navigation systems design and navigation algorithms realization. Mohamed Tamazin is a PhD candidate in the Navigation and Instrumentation (NavINST) group of the Department of Electrical and Computer Engineering in Queen’s University, Ontario, Canada. He holds M.Sc. degree in Geomatics Engineering from University of Calgary, Alberta, Canada. In addition, He holds B.Sc. and M.Sc. in Electrical Engineering from Arab Academy for Science and Technology, Alexandria, Egypt. His research interests in the fields of GNSS signal processing, software receiver design and integrated navigation systems. Dr. Michael Korenberg is a Professor in the Department of Electrical and Computer Engineering at Queen’s University, Kingston, Ontario, Canada. He holds an M.Sc. (Mathematics) and a Ph.D. (Electrical Engineering) from McGill University, Montreal, Quebec, Canada, and has published extensively in the areas of nonlinear system identification and time-series analysis. Dr. Aboelmagd Noureldin is Cross-Appointment Professor at the Departments of Electrical and Computer Engineering of both Queen’s University and the Royal Military College (RMC) of Canada. He is also the founder and the leader of the Navigation and Instrumentation research group at RMC. His research is related to artificial intelligence, digital signal processing, spectral estimation and de-noising, wavelet multi-resolution analysis and adaptive filtering with emphasis on their applications in mobile multi- sensor system integration for navigation and positioning technologies. Dr. Noureldin holds B.Sc. degree in Electrical Engineering (1993) and M.Sc. degree in Engineering Physics (1997) from Cairo University, Giza, Egypt. In addition, he holds Ph.D. degree in Electrical and Computer Engineering (2002) from The University of Calgary, Alberta, Canada. ABSTRACT GPS signal interruption is a primary cause which affects the continuity and reliability of navigation systems that rely on standalone GPS solution. In order to obtain continuous positioning services in all environments, GPS can be integrated with inertial sensors. Micro-Electro-Mechanical-System (MEMS) based inertial sensors are preferred for vehicular navigation due to their low cost, small size, and low power consumption. However, these sensors suffer from severe stochastic error characteristics that can cause large positional error growth. To enhance the performance of vehicular navigation along with reducing the reliance on inertial sensors, three-dimensional reduced inertial sensors system (RISS) relies on measurements from one gyroscope, two accelerometers and a speed sensor (i.e. speed measurements in a vehicle are obtained from the vehicle’s odometer) which are integrated with measurements from a GPS receiver. To address the non- 494 25th International Technical Meeting of the Satellite Division of The Institute of Navigation, Nashville TN, September 17-21, 2012