INS/GPS SYNERGIC NAVIGATOR WITH KALMAN FILTERING

摘要

This paper proposes a synergetic architecture navigator, the combined statistical navigation data from GPS and those obtained from a strap-down inertial navigator. After highlighting the inertial navigator equations governing the functioning of the model error and its deduction is exposed Kalman filter implementation for integrating INS/GPS. It aims at estimating error positioning, speed and attitude INS using navigation solutions to this system and the GPS system and linearized model error of INS. Navigator synergistic INS/GPS model is implemented in a Matlab/Simulink model, which is tested experimentally using simultaneously acquired data from a GPS module and a miniaturized inertial measurement unit consisting of two gyro and accelerometric triads with MEMS sensors, both on board of a test vehicle.