Marine Positioning With a GPS-Aided Inertial Navigation System

K. P. Schwarz, R. V. C. Wong, J. Hagglund, G. Lachapelle

Abstract:	The accuracy requirements for precise horizontal positioning of a moving vessel in the offshore and open ocean are expected to approach the 3m to Sm level within this decade. Previous simulation studies and lan d-based tests have shown that such a level of accuracy can be achieved by a combination of inertial navigation and GPS satellite positioning techniques. A Kalman filter and an optimal smoother have been developed to integrate an inertial navigation system with a slow switching GPS satellite receiver for marine positioning purposes. The Kalman filter and optimal smoother were tested on the Canadian east coast in November 1982. The paper outlines first the operational principle of the GPS aided inertial navigation system and the development of the Kalman filter and smoother. It then presents the results and a detailed error analysis of the offshore tests.
Published in:	Proceedings of the 1984 National Technical Meeting of The Institute of Navigation January 17 - 19, 1984 San Diego, CA
Pages:	38 - 46
Cite this article:	Schwarz, K. P., Wong, R. V. C., Hagglund, J., Lachapelle, G., "Marine Positioning With a GPS-Aided Inertial Navigation System," Proceedings of the 1984 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1984, pp. 38-46.
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