Investigation of a Low-Cost and High-Accuracy GPS/IMU System

Ren Da

Abstract:	A low-cost, high-accuracy integrated Global Positioning System (GPS)/inertial measurement unit (IMU) system is investigated. Several issues for the design and implementation of this cm-level GPS/IMU system are discussed, including the algorithms of inertial position and attitude computation, the mathematical model of the Kalman filter, the method of IMU feedback error calibration, and the technique of the GPS On-The-Fly ambiguity resolution. The performance of the integrated GP!YIMU system is evaluated using data collected during the field tests.
Published in:	Proceedings of the 1997 National Technical Meeting of The Institute of Navigation January 14 - 16, 1997 Loews Santa Monica Hotel Santa Monica, CA
Pages:	955 - 963
Cite this article:	Da, Ren, "Investigation of a Low-Cost and High-Accuracy GPS/IMU System," Proceedings of the 1997 National Technical Meeting of The Institute of Navigation, Santa Monica, CA, January 1997, pp. 955-963.
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