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n -frameINSsystemarederived.Usingzeroorderholdsampling,thetwosetsofequationsarediscretized.AnextendedKalmanfilterforclosedloopintegrationbetweentheGPSandINSisderived.Thefilterpropagatesandestimatestheerrorstates,whicharefedbacktotheINSforcorrectionoftheinte

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Academic year: 2021

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Abstract

In this thesis an approach for integration between GPS and inertial navigation systems (INS) is described.

The continuous-time navigation and error equations for an n-frame INS system are derived. Using zero order hold sampling, the two sets of equations are discretized.

An extended Kalman filter for closed loop integration between the GPS and INS is derived. The filter propagates and estimates the error states, which are fed back to the INS for correction of the internal navigation states. Simulation results of the system are presented.

A description of the hardware used for practical tests is given and results are presented for a flight test.

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