Characteristics of Estimation Errors in INS Aided by a GPS Multi-antenna System

Sinpyo Hong, Man-Hyung Lee and Chang Sup Kim

Abstract:	This paper presents characteristics of INS aided by GPS multi-antenna system. Analysis on the GPS/INS properties is based upon linear time-invariant models for the INS mechanization errors. Measurements for absolute position of one of the antenna and for relative positions among the antennas in the antenna array are used for INS error correction. It is shown that upper bounds for errors in the optimal estimation for attitude and gyro bias are determined by the gyro and measurements for the relative position among the antennas. Numerical simulation results are presented to support analytical studies. It is shown that with noisy measurements for the relative positions among the antennas, static horizontal alignment error modes appear in errors of attitude and accelerometer biases.
Published in:	Proceedings of the 14th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2001) September 11 - 14, 2001 Salt Palace Convention Center Salt Lake City, UT
Pages:	1374 - 1381
Cite this article:	Hong, Sinpyo, Lee, Man-Hyung, Kim, Chang Sup, "Characteristics of Estimation Errors in INS Aided by a GPS Multi-antenna System," Proceedings of the 14th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2001), Salt Lake City, UT, September 2001, pp. 1374-1381.
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