DGPS/INS Integration Using Kalman Filter Method for 2-dof and 4-dof Speed Based INS Navigation Models

Faroog Ibrahim, Nizar Al-Holou and Tom Pilutti

Abstract:	This paper presents the development of the error modeling for two and four degree of freedom (dof) speed based Inertial Navigation System (INS) navigation models. The Kalman filter (KF) method is used to compare the performance of these models by integrating the Differential Global Positioning System (DGPS) and the INS system in land vehicle navigation applications. The 2-dof INS navigation model uses velocity and yaw rate measurements to calculate the navigation solution, and shows better performance than the 4-dof speed based INS navigation model that uses velocity, yaw rate, pitch rate, and roll rate measurements to calculate the navigation solution.
Published in:	Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000) September 19 - 22, 2000 Salt Palace Convention Center Salt Lake City, UT
Pages:	2309 - 2315
Cite this article:	Ibrahim, Faroog, Al-Holou, Nizar, Pilutti, Tom, "DGPS/INS Integration Using Kalman Filter Method for 2-dof and 4-dof Speed Based INS Navigation Models," Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000), Salt Lake City, UT, September 2000, pp. 2309-2315.
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