Integrated GPS/INS Kalman Filter Implementation Issues

Wang Tang and Gene Howell

Abstract:	The synergism of integrating an inertial navigation system (INS) and the Global Position System (GPS) is well-known. In an integrated GPS/INS system the GPS provides position and velocity information to the INS to enhance its navigation accuracy and the INS aids the GPS with velocity information to increase its anti- jamming capability by narrowing the tracking loop bandwidth. A standard GPS and INS integration approach is to process the residuals by a Kalman filter to estimate and compensate various errors in both systems. To implement an integrated GPS/INS Kalman filter is not trivial. Other than these considerations such as tightly coupled versus loosely coupled system architecture, or to embed GPS into the INS box or not, there are several other issues to consider as well. The primary objective of this paper is to address some of these implementation issues. Some simulation results are provided to support conclusions.
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:	217 - 224
Cite this article:	Tang, Wang, Howell, Gene, "Integrated GPS/INS Kalman Filter Implementation Issues," 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. 217-224.
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