Initial attitude determination and correction of gyro-free INSangular orientation on the basis of GPS linear navigationparameters

摘要

The exclusion of gyroscopes from navigation system architectureachieves an essential reduction in systems cost. However, the absence ofgyroscopes leads to the growth of errors in the determination ofnavigation system angular orientation. This, in its turn, leads to thegrowth of errors in the determination of vehicle coordinates. Therefore,one of the main problems in the construction of an integrated navigationsystem, which is based on a gyro-free inertial navigation system (INS)and a single antenna Global Positioning System (GPS), is thedetermination of the initial angular orientation and correction ofgyro-free INS angular characteristics on the basis of linear navigationparameters (coordinates and velocity) that are obtained from GPS. Thispaper is devoted to the description of the proposed solution method forthis problem