Estimation of Alignment Errors in GPS/INS Integration

Sinpyo Hong, Yu-Shin Chang, Sung-Kee Ha and Man-Hyung Lee

Abstract:	In this paper, estimation of alignment errors in the integration of inertial navigation systems (INS) with a Global Positioning System (GPS) multi-antenna measurements is considered. Observability properties of the GPS/INS system are investigated for the estimation of the alignment errors. Errors in the estimation for attitude, biases of gyro and accelerometer, lever arm between INS and GPS antenna, and the relative attitude of GPS antenna array with respect to body frame are considered in the observability analysis. It is shown that errors in the GPS lever arm and the relative attitude of GPS antenna array can be made observable through maneuvering of the vehicle. Numerical simulation results are given to demonstrate estimation of GPS/INS alignment errors. The results show that the change of vehicle acceleration increases esimability of the GPS antenna array relative attitude. They also show that change of the vehicle attitude enhances estimation for the GPS antenna lever arm.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	527 - 534
Cite this article:	Hong, Sinpyo, Chang, Yu-Shin, Ha, Sung-Kee, Lee, Man-Hyung, "Estimation of Alignment Errors in GPS/INS Integration," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 527-534.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In