Inertial GPS navigation system using the input alignment data for inertial systems

摘要

Inertia (INS) the /GPS receiver, when that, moving while starting, using the alignment data which is input, decides the alignment of INS subsystem. The alignment data, to parameter the surface information which is converted, were measured GPS speed, and the vehicle and the inertial measurement unit where the receiver is loaded (IMU) the inertial measurement standard which it is related to the accelerometer and the gyroscope, or, known with the body and the frame or is decided from established angular relationship. The to parameter which brings restriction to make orientation of the surface which the vehicle which accommodates the receiver is moving it is possible the surface information which is converted. As for the receiver, using early GPS position, to parameter on the surface which is converted, therefore, it decides the position of the vehicle of distribution improvement of the known surface. The receiver, next, using the GPS speed vector which it is related, the roll of the vehicle on the surface, decides pitch, and direction. After that, the receiver known with the roll, pitch, direction, and the vehicle and the IMU body frame where the vehicle was calculated or using established angular relationship, the IMU body frame relation is attached decides the revolution queue which in the frame or the standard frame in regard to the calculation which is used by the receiver.