Multi-application GPS/Inertial Navigation Sofware

Ian Longstaff, Lee Burton, David Tieben and Carl Koop

Abstract:	The integration of Global positioning Systems (GPS) with Inerial Measurement Units (IMU) or Inertia1 Navigation Systems (INS) is fulfilling a wide variety of roles in present times, from Remotely Piloted Vehicle (RPV) navigation, to the USAF standard Embedded GPS/Inertial (EGI) navigation system, to providing high accuracy mapping and positioning.. The precise position and velocity capability of GPS, when coupled with the continuous, unjammable real time IMU data, provides highly accurate position, velocity and attitude data, even during periods of satellite non-availability, due to the capability of the IMU instrument errors to be calibrated from the GPS data whilst navigating with GPS coverage. Also, the IMU data can be used to aid the carrier loops of the GPS during high-g maneuvers such as tight turns or rapid accelerations in aircraft or missiles, to help maintain satellite lock. NAVSYS has developed a Commercial-off-the-shelf (COTS) software package that provides optima1 GPS /IMU integration for any available GPS/IMU configuration, with minima1 modification for different interfaces. The ability to intermix GPS receivers and different grade IMUs’ allows flexibility to customers to tailor their positioning and navigation solutions to their requirements with customized solutions, without. incurring large non-recurring costs. This paper describes two very different applications of this software package to achieve two very different sets of system requirements, one being a high accuracy land vehicle mapping application, the other being the transfer-align and calibration of a missile navigation system.
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:	983 - 988
Cite this article:	Longstaff, Ian, Burton, Lee, Tieben, David, Koop, Carl, "Multi-application GPS/Inertial Navigation Sofware," 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. 983-988.
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