The Design, Implementation and Performance of a GPS Resident Close Coupled GPS-INS Integration Filter

Hugh Wightwick, Robert Wade and John Owen

Abstract:	Incorporation of a high order integration filter within a GPS module is an unusual integration approach which offers effective close coupled sensor integration for physically distributed or physically integrated GPS-INS systems. The approach allows a flexible approach to system partitioning, retaining the advantages of close coupled operation and avoiding restrictions imposed on alternative strategies by the GPS PPS security boundary. To investigate this approach, the UK Defence Research Agency has funded the development of an experimental 18-State close coupled GPS-INS integration Kalman Filter, implemented in a Cossor STR 2515 S-Channel PPS Receiver. The filter estimates an extended set of INS error parameters, including position, velocity, misalignment and sensor bias errors. Flight trials of the filter have shown good INS drift cancellation during extended GPS outages.
Published in:	Proceedings of the 1995 National Technical Meeting of The Institute of Navigation January 18 - 20, 1995 Disneyland Hotel Anaheim, CA
Pages:	673 - 681
Cite this article:	Wightwick, Hugh, Wade, Robert, Owen, John, "The Design, Implementation and Performance of a GPS Resident Close Coupled GPS-INS Integration Filter," Proceedings of the 1995 National Technical Meeting of The Institute of Navigation, Anaheim, CA, January 1995, pp. 673-681.
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