Low Cost GPS/INS Carrier Phase Integrated Navigation Systems

摘要

Integrated GPS/INS systems have applications in may different fields. It has been recognized that tightly-coupled GPS/INS performance is superior to loosely-coupled. The tightly-coupled system uses raw data of GPS as measurements, such as pseudorange, carrier phase. This paper presents two antenna GPS carrier phase measurements to stability the azimuth of integrated system. The test results for the integrated system show an attitude accuracy of up to 0.1 deg (RMS) for pitch and roll, and up to 0.03 deg (RMS) for azimuth when baseline is 7.8 m. The system by this integration can provide the position and velocity of high accuracy too.