GPS/INS fusion with Kalman filtering allows for better positioning

摘要

To ensure safe operation, floating ocean platforms normally contain systems that monitor the platform's position (latitude, longitude, and elevation) and attitude (roll, pitch, and yaw). Typically, these monitoring systems include one or more Global Positioning System (GPS) receivers along with rotation rate sensors and linear accelerometers. For two reasons the measurements from these sensors must be combined to estimate attitude and position.