Development and Testing of a Low Cost Integrated GPS/INS

Klaus-Peter Schwarz and Gengsheng Zhang

Abstract:	Integrated GPWINS systems have applications in many different areas. Their use, however, has been seriously limited due to the high acquisition costs. t3y using a low-cost inertial sensor assembly (ISA), a low cost integrated GPSIINS has been developed to the prototype stage. Tests have been conducted to verify the system design and evaluate the accuracy achievable by the system. This paper describes the low cost integrated GPSIINS, including the hardware components, the data acquisition system, the ISA output preprocessing, and the integration software. The test objectives and design are briefly outlined. The accuracy of the low cost integrated system obtained by comparison with a high performance integrated GPSIINS is presented, and considerable room is given to the analysis of attitude results. Test results show that the system can achieve 0.5 degrees level accuracy (RMS) in pitch and roll, and 1.0 degree (RMS) in heading.
Published in:	Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994) September 20 - 23, 1994 Salt Palace Convention Center Salt Lake City, UT
Pages:	1137 - 1144
Cite this article:	Schwarz, Klaus-Peter, Zhang, Gengsheng, "Development and Testing of a Low Cost Integrated GPS/INS," Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994), Salt Lake City, UT, September 1994, pp. 1137-1144.
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