Laboratory Test Evaluation of an Ada Coded INS/GPS Open Loop Kalman Filter

Ronald T. Kelley, Norman Katz

Abstract:	Integrating an Inertial Navigation System (INS) with highly accurate Global Positioning System (GPS) via a Kalman filter would allow in flight calibration of INS system errors which would greatly improve navigation performance. Implementing an embedded GPS/INS into an existing INS design would require extensive hardware and software modifications, which would be quite costly and time consuming. The problem of integrating GPS equipment into production aircraft exists today. An open-loop Kalman filter capable of processing external measurements would provide an alternate means of upgrading existing INS designs with GPS equipment. This paper describes an openloop Kalman filter design, laboratory integration testing and evaluation of results.
Published in:	Proceedings of the 46th Annual Meeting of The Institute of Navigation (1990) June 26 - 28, 1990 Atlantic City, NJ
Pages:	165 - 172
Cite this article:	Kelley, Ronald T., Katz, Norman, "Laboratory Test Evaluation of an Ada Coded INS/GPS Open Loop Kalman Filter," Proceedings of the 46th Annual Meeting of The Institute of Navigation (1990), Atlantic City, NJ, June 1990, pp. 165-172.
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