Abstract
Models and algorithms for GPS/INS integration are discussed for applications which require highly precise trajectory determination in near real time. The paper formulates the inertial integration model in the same earth-fixed Cartesian frame in which GPS positioning computations are normally performed. This formulation is compared to the standard approach which performs the integration in geographical coordinates, using the local-level frame. A state space model is then used to integrate the two data streams via a Kaiman filter. Implementation of the two algorithms and first test results indicate that the model in earth-fixed Cartesian coordinates has decisive advantages in simplicity of the mathematical formulation and efficiency of the numerical computation.
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Wei, M., Schwarz, K.P. (1990). A Discussion of Models for GPS/INS Integration. In: Bock, Y., Leppard, N. (eds) Global Positioning System: An Overview. International Association of Geodesy Symposia, vol 102. Springer, New York, NY. https://doi.org/10.1007/978-1-4615-7111-7_30
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DOI: https://doi.org/10.1007/978-1-4615-7111-7_30
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