Design and Analysis of a High-Accuracy Airborne GPS/INS System

Ren Da, George Dedes and Keith Shubert

Abstract:	A high-accuracy and high-rate integrated GPSANS positioning system is presented, which models accelerometer and gyro measurement errors plus position, velocity, and attitude errors. On-The-Fly ambiguity resolution techniques are applied to provide high accuracy cm-level GPS positioning. Inertial sensor errors are estimated when GPS positions are available, and used to improve INS navigation accuracy during periods when GPS positions become unavailable, due to aircraft banking or interference with the rotating blades. A number of key factors for the design and implementation of this cm-level GPS/INS system are discussed, including the INS navigation algorithm, the mathematical model of the Kalman filter, the numerically stable filtering algorithm, the INS feedback error calibration technique, and the GPS On-The-Fly ambiguity resolution technique. The performance of the integrated GPS/INS system is evaluated using data collected during the flight tests.
Published in:	Proceedings of the 9th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1996) September 17 - 20, 1996 Kansas City, MO
Pages:	955 - 964
Cite this article:	Da, Ren, Dedes, George, Shubert, Keith, "Design and Analysis of a High-Accuracy Airborne GPS/INS System," Proceedings of the 9th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1996), Kansas City, MO, September 1996, pp. 955-964.
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