INS/DGPS Integration for Trajectory Determination of a Test Vehicle

Pierre E. Pommellet and Bernard Panefieu

Abstract:	As part of its activities, L.R.B.A. (Ballistics and Aerodynamics Research Laboratory) is responsible for studying and testing the navigation systems of the French Army, Navy and Air Force. For that purpose, a test vehicle was designed for low dynamic evaluation of small and medium size navigation systems. This paper presents the integration, on board the vehicle, of an Inertial Navigation System and a GPS receiver in order to calculate the best possible reference trajectory. The INS comes from the ULISS family of Sagem which is used on the aircrafts of the French Air Force. The GPS receiver is an Ashtech XII used in differential mode. The integration is done through a Kalman smoother which estimates, in post processing, the positions, velocities and attitudes of the vehicle. System performance was evaluated on surveyed points to be in the range of 3-10 meters in position, 0.05 m/s in velocity and better than 2 mrad in attitude.
Published in:	Proceedings of the 1992 National Technical Meeting of The Institute of Navigation January 27 - 29, 1992 Catamaran Resort Hotel San Diego, CA
Pages:	23 - 30
Cite this article:	Pommellet, Pierre E., Panefieu, Bernard, "INS/DGPS Integration for Trajectory Determination of a Test Vehicle," Proceedings of the 1992 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1992, pp. 23-30.
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