An Integrated Land Navigation Solution

L.W. Stimac, Greg Routson, and John Washburn

Abstract:	This paper presents a description, design and performance data for an integrated land navigation system. The system contains inertial instruments (gyroscopes and accelerometers), an odometer and a GPS receiver. The system is based on the Smiths Industries POS/NAV land vehicle system currently used as a stand-alone navigation system in the MIA2 Abrams main battle tank. A Collins PLGR was integrated into the basic system using a seven state Kalman filter utilizing GPS position and derived heading as measurements. The integrated system is designed to mitigate the effects of interruptions in the GPS solution due to ground features yet provide a long term reference to bound the natural tendency of the inertial system to drift in position and heading. In addition, the integration scheme allows the inertial system to forgo a prolonged gyrocompass to ascertain heading from earth rate. Position and heading error data is presented using both SPS and PPS GPS receiver configurations.
Published in:	Proceedings of the 1996 National Technical Meeting of The Institute of Navigation January 22 - 24, 1996 Loews Santa Monica Hotel Santa Monica, CA
Pages:	323 - 332
Cite this article:	Stimac, L.W., Routson, Greg, Washburn, John, "An Integrated Land Navigation Solution," Proceedings of the 1996 National Technical Meeting of The Institute of Navigation, Santa Monica, CA, January 1996, pp. 323-332.
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