An Integrated System of GPS and INS with Azimuth Rotated Platform
For its synergistic relationship, the integrated GPS/INS navigation system has been adopted in many navigation systems. The azimuth rotating Gimbaled Inertial Navigation system (ARGINS) can modulate the gyro drift and accelerometer bias by rotating the platform about the azimuth axis and so improve the observability properties of errors and the navigation accuracy. In this paper, the dynamic error model and the measurement model of loosely integrated ARC INS/GPS system for kalman filter are derived first,then the simulation is carried out for integrated ARGINS/GPS system, which adopts the position and velocity as its measurement variables. The simulation result shows that the ARGINS/GPS system can improve the evaluation precision and the quickness of horizontal misalignment angles of platform, compared with the integrated system of north-pointing GINS and GPS.
azimuth rotating GINS GPS integrated navigation system kalman filtering
WANG Rong-ying XU Jiang-ning BIAN Hong-wei
Navigation Engineering Department Navy University of Engineering Wuhan, China
国际会议
太原
英文
69-72
2010-10-22（万方平台首次上网日期，不代表论文的发表时间）