Attitude/RTK/INS Integrated System: Experimental Results

Valeriy G. Mogilnitsky, Lev B. Rapoport, Alexander A. Khvalkov, Alexander I. Gribkov and Vladimir I. Stankevich

Abstract:	The attitude / RTK system JNSGyro-4 [1,2] consists of four dual band GPS or GPS + GLONASS receivers. This system provides 3D attitude and position. The system is augmented by IMU block of low-cost inertial sensors comprising three gyroscopes, three accelerometers, ADC, and processor. Use of the IMU block enables to increase the attitude and position estimation rate up to 100 or 200 Hz, and to improve accuracy because of smoothing GPS related noise. High update rate with low latency is necessary for modern navigation and control applications. The IMU block is synchronized by PPS signal from a GPS receiver and because of that attitude and position are tagged with GPS time. The goal of the present paper is to describe the system behavior in different testing scenarios including fast dynamics car runs and aircraft flights. Following problems and results are discussed in the paper: 1) Hardware architecture, 2) Mathematical model and numerical scheme of filtering, 3) Biases and their estimation, 4) Testing results on the car with unpredictable accelerations and jerks, 5) Testing results on the aircraft, 6) Behavior of the INS system under GPS data outages, 7) Initial calibration and biases stability.
Published in:	Proceedings of the 17th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2004) September 21 - 24, 2004 Long Beach Convention Center Long Beach, CA
Pages:	792 - 800
Cite this article:	Mogilnitsky, Valeriy G., Rapoport, Lev B., Khvalkov, Alexander A., Gribkov, Alexander I., Stankevich, Vladimir I., "Attitude/RTK/INS Integrated System: Experimental Results," Proceedings of the 17th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2004), Long Beach, CA, September 2004, pp. 792-800.
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