The loosely coupled algorithm of integrated INS-GPS navigation system of the vehicle

Abstract

The loosely coupled algorithm of integrated INS-GPS navigation system of the vehicle

I.V. Shcherban, S.A. Tolmachev, D.S. Konev

Incoming article date: 12.08.2013

The existing approaches to the integration of relatively cheap strapdown inertial navigation system (SINS) based on MEMS-based technology and satellite navigation systems (SNS) are ineffective in relation to motor vehicles. We consider the iterative algorithm for the loosely coupled mode of integration of heterogeneous navigation systems do not intend to use the optimal estimation. The solution is obtained on the basis of the fully nonlinear model of the navigation system of the vehicle and the, therefore, is valid for arbitrary and unknown in advance nature of his movements, and, in the most general assumptions about the level of disturbances acting upon him.

Keywords: vehicle, integrated inertial navigation satellite system, loosely coupled iterative algorithm