Attitude Determination with GPS-Aided Inertial Navigation Systems

O.S. Salychev, V.V. Voronovy, M.E. Cannon, R. Nayak and G. Lachapelle

Abstract:	Precise attitude parameters are required in connection with numerous marine and airborne applications, including shipborne multi-beam echo sounding systems for sea floor mapping, and airborne laser and digital camera mapping. Multi-antenna GPS can deliver accuracies of better than several arcmins under good conditions. However this requires the use of a stable mounting system which can operationally be difficult to install and relate to the sensor that requires the attitude parameters in the first place. In addition, several of the above applications require accuracies that GPS may not achieve at this time due to the presence of carrier phase multipath. An alternative which has proven to be effective is the use of GPS-aided INS. For instance, the use of mid-range INS (e.g., LN200, HG1700) yields attitude accuracies sufficient for the most demanding multi-beam echo sounding systems. In this paper, an approach is presented to aid INS with GPS to derive attitude parameters. Two classes of inertial measuring units (IMU) are used, namely a MotionPak™ and a HG1700 unit. Performance analyses show how the attitude parameter accuracy varies as a function of the specific specifications of the IMU used and of the platform dynamics.
Published in:	Proceedings of the IAIN World Congress and the 56th Annual Meeting of The Institute of Navigation (2000) June 26 - 28, 2000 The Catamaran Resort Hotel San Diego, CA
Pages:	705 - 711
Cite this article:	Salychev, O.S., Voronovy, V.V., Cannon, M.E., Nayak, R., Lachapelle, G., "Attitude Determination with GPS-Aided Inertial Navigation Systems," Proceedings of the IAIN World Congress and the 56th Annual Meeting of The Institute of Navigation (2000), San Diego, CA, June 2000, pp. 705-711.
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