GPS/INS Attitude Determination Using Precise Kinematic Positioning

Udayan V. Bhapkar, Alan G. Evans, Christopher S. Law, James P. Cunningham, Benjamin W. Remondi

Abstract:	This paper discusses the use of precision GPS techniques to improve the pointing accuracy of small, low-cost, strapdown inertial measurement units (IMUs) for tactical unmanned aerial vehicles (UAVs) used in targeting applications. A test demonstration was performed using raw inertial measurements from a low-cost, 5 deg/hr, 500 mg IMU unit fixed to a ground vehicle, in combination with precise kinematic GPS position solutions in both single- and dual-antenna configurations. Videometric truth measurements were obtained periodically during the demonstration. In addition, GPS/INS Kalman filter software was written. Calculations with this filter using the test data demonstrated error standard deviations (defined here as the difference between the Kalman filter and videometric truth data) below 0.4 mrad for pitch and 1.0 mrad for heading for both the single- and dual-antenna configurations.
Published in:	Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999) September 14 - 17, 1999 Nashville, TN
Pages:	1989 - 1998
Cite this article:	Bhapkar, Udayan V., Evans, Alan G., Law, Christopher S., Cunningham, James P., Remondi, Benjamin W., "GPS/INS Attitude Determination Using Precise Kinematic Positioning," Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999), Nashville, TN, September 1999, pp. 1989-1998.
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