^4fImproved GPS/INS Integration in Vibration Environments

摘要

^7fEspecially in missile applications, the INS is often exposed to significant vibration levels. Although the noise induced by these vibrations may have a considerable impact on inertial navigation performance, the vibration environment is often ignored when the data fusion algorithm is designed and the inertial sensors are selected. It is shown in this paper that the accuracy of the navigation solution is improved if the time correlations of the vibration induced noise are considered by means of a Schmidt-Kalman filter. Additionally, this technique allows to use lower grade sensors without affecting the system performance. However, this is only possible if appropriate models for the vibration induced noise processes are known. Therefore, an efficient method was developed for the autonomous identification of these noise process models from the IMU data during flight, which provides estimates of the model parameters hardly influenced by the trajectory dynamics.