Integrated navigation for GPS/INS provides alternatives for long-term stability and high accuracy due to their complementary properties. A stand-alone navigation system with high accuracy will be of high cost. Integration of the medium accuracy sensors, with the properly integrated method, can acmeve higher accuracy and long term stability at a lower cost. It is the goal of the present project- TNDS (true north determination system) . The TNDS integrates MS860 and INS with a PC/104 embedded computer system processing the data. The INS error model including the proper error states for the actual physical system TNDS has been developed. Based on the model, a proposed GPS/INS reducedorder J^KF (extended kalman Filter) algorithm design for TNDS and marine tests were achieved. The tests show that the INS position errors are reduced from more than 100 m to 40 m after correction. The heading error a are reduced from 0.105° to 0.034° after correction. The accuracy in roll and pitch is also increased greatly by the integration. Whole set of tests show that the TNDS performance is significantly improved by GPS/INS reduced-order EKF algorithm.
Key words
information processing technique /
GPS /
INS /
integrated navigation /
error model /
reduced-order EKF
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Footnotes
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