GPS/INS Integration by Functional Partitioning

John W. Diesel

Abstract:	Since an inertial system inherently measures acceleration rather than position, it provides very accurate high frequency information with practically no noise or time lags, but it drifts at very low frequency. When integrated with GPS, the accurate low frequency pseudo range (PR) and delta range (DR) information can be sent to the INS at low rates to realign and re-calibrate the sources of low frequency drift in the INS. These measurements, along with satellite position and delta position, should be sent to the INS without embedding the GPS in the INS and without performing GPS related computations in the INS. In this way the functions are partitioned so that each system can be tested and checked out as an independent subsystem. Because of its high frequency accuracy, the INS provides more accurate information for short time periods than that from additional GPS satellites. This makes it ideal for autonomous integrity monitoring of GPS. It appears that the integrated system can be used to satisfy all the RTCA accuracy requirements and goals worldwide using only existing or presently planned systems.
Published in:	Proceedings of the International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1988) September 19 - 23, 1988 The Broadmoor Hotel Colorado Spring, CO
Pages:	301 - 308
Cite this article:	Diesel, John W., "GPS/INS Integration by Functional Partitioning," Proceedings of the International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1988), Colorado Spring, CO, September 1988, pp. 301-308.
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