A Tightly-Coupled GNSS/IMU Integration Algorithm for Multi-Purpose INS

摘要

A tightly-coupled GNSS/INS integration algorithm hasbeen developed. It implements an approach where userdynamics model is expressed via accelerometer and gyromeasurements. That resulted in higher computationalefficiency and seamless filter design. In proposedalgorithm INS data is fed into receiver’s tracking loops tocompensate line-of-sight dynamics and tighten theirbandwidths. It increases the receiver’s sensitivity andantijam capability. From the other hand, receiver’s PVT(Position, Velocity, Time) output allowed to estimate andcompensate IMU errors – that resulted in more preciseINS navigation solution in standalone mode (duringGNSS outages). The development and simulation resultsfor the proposed algorithm with tactical-grade IMU arepresented in this paper.