GPS/INS Integration Using Decoupled Residual Data

M. K. Dosh, M. D. Yakos

Abstract:	This paper describes a technique to efficiently integrate GPS with an INS. The proposed method uses GPS pseudorange and delta range residual data for incorporation into a central navigation Kalman filter. A data decoupling algorithm is described which allows use of the same residual data in two Kalman filters: one in the GPS set and the other in the central navigator. Data decoupling avoids the instability and correlation problems associated with operating two Kalman filters In a closed loop system. Performance data from field tests, using a single channel GPS receiver integrated with a strapdown INS, concludes this paper.
Published in:	Proceedings of the 1986 National Technical Meeting of The Institute of Navigation January 21 - 23, 1986 Long Beach, CA
Pages:	117 - 119
Cite this article:	Dosh, M. K., Yakos, M. D., "GPS/INS Integration Using Decoupled Residual Data," Proceedings of the 1986 National Technical Meeting of The Institute of Navigation, Long Beach, CA, January 1986, pp. 117-119.
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