A Kalman Filter Implementation for a Dual-Antenna GPS Receiver and an Inertial Navigation System

B. Larry Miller, Craig A. Phillips, Alan G. Evans, and John E. Bibel

Abstract:	This paper presents a Kalman filter for integrating measurements from a dual-antenna Global Positioning System (GPS) receiver with an inertial navigation system. The receiver provides attitude measurements from the coherent phase differences between the two antennas. The dual-antenna GPS measurements enhance the system attitude accuracy, especially the azimuth component, for less accurate, inexpensive inertial navigation systems. High attitude accuracy is necessary for interceptor missiles with narrow target acquisition sensor windows. This scenario is addressed here. Expected accuracies for position, velocity, and attitude are presented for several antenna and inertial navigation configurations.
Published in:	Proceedings of the 6th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1993) September 22 - 24, 1993 Salt Palace Convention Center Salt Lake City, UT
Pages:	593 - 602
Cite this article:	Miller, B. Larry, Phillips, Craig A., Evans, Alan G., Bibel, John E., "A Kalman Filter Implementation for a Dual-Antenna GPS Receiver and an Inertial Navigation System," Proceedings of the 6th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1993), Salt Lake City, UT, September 1993, pp. 593-602.
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