Comparison of INS vs. Carrier-Phase DGPS for Attitude Determination in the Control of Off-Road Vehicles

摘要

This paper compares the use of an inertial navigation system(INS)and a multiple GPS antenna system for attitude determination of an off-road vehicle. The INS system currently provides a less expensive attitude solution than the multiple GPS antenna system. Additionally, the INS system does not suffer from GPS errors resulting from multipath and antenna blockages. A Kalman filter incorporates the INS measurements with centimeter-level carrier-phase differential GPS(DGPS)measurements from one position antenna for complete calibrations of the INS system of an off-road vehicle.