Optimal Kalman Filter Integration of a Global Positioning System Receiver and anLN-94 Inertial Navigation System

摘要

This research develops and attempts to implement a Kalman filter integration of aPhase III Global Positioning System (GPS) five-channel receiver and an LN-94 Inertial Navigation System (INS). The GPS provides highly accurate position and velocity information in low dynamic environments. An INS provides position and velocity information with lower accuracy over long periods of time, but it is highly responsive in dynamic maneuvers or at high frequencies. The INS has the added advantage of requiring no signals external to the vehicle to function. The integration of these two systems provide more precise information under a wider variety of situations. A truth model for the INS is verified. A GPS error model is developed and combined with the INS model to provide GPS-aided INS navigation. This model is used to predict baseline performance of all full-ordered filter. Attempts are made to utilize the filter with empirical data. The data is analyzed, and suggestions are made about ways to account for the errors in evidence. Results to date are presented and analyzed. Keywords: Global positioning system, Inertial navigation system, GPS/INS Integration, GPS-aided-INS, Theses. (jhd)