A New Integrated GPS/INS Method
Mohamed S. Ahmed
Danilo V. Ĉuk
This paper examines the scope of satisfying high accuracy and low cost navigation system requirements by using integrated navigation systems, in which StrapDown Inertial Navigation System is aided by GPS measurements. A new GPS/INS integration scheme was developed and designated as a semi-coupled integration scheme. The coupling effects source from the control vector determined from the INS outputs from all three channels, and are used as input to the Kalman filter. The Kalman filter design for GPS/INS was tested for different flight conditions and inertial sensors accuracy.
Key words: flight mechanics, navigation, numerical algorithm, Kalman filter, GPS.