Ground Alignment of Inertial Navigation System with the Aid of GPS Signals

摘要

Due to the poor observability of INS ground self-alignment, only horizontal alignment is satisfied. This paper proposes using GPS double difference carrier phase as external reference to improve the observability of INS self-alignment. Through observability analysis and computer simulation, it is demonstrated that the azimuth alignment is as quick as horizontal alignment, the accuracy of horizontal alignment is improved, and the gyros errors can be estimated quickly and preciseiy.