A Comparison of Loose and Tight GPS/INS Integration Using Real INS and GPS Data.

Abstract

An extended Kalman filter (EKE) is used to combine the information obtained from a Global Positioning System (GPS) receiver and an Inertial Navigation Sys tem (INS) to provide a navigation solution. This research compares the results of a tightly-coupled GPS/INS integrated system with a loosely-coupled integrated system, using real world data. A fair comparison is accomplished by using the same sets of data, and keeping the integration structures as close as possible. Both integrations are feedforward and have the same error states in the navigation Kalman filters. Differences between the two, such as navigation solutions and tuning values, are shown in the research.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1995
Accession Number
ADA303424

Entities

People

  • Warren H. Nuibe

Organizations

  • Air Force Institute of Technology

Tags

DTIC Thesaurus Topics

  • Filters
  • Global Positioning Systems
  • Inertial Navigation
  • Inertial Navigation Systems
  • Integrated Systems
  • Kalman Filters
  • Navigation
  • Navigational Equipment

Fields of Study

  • Computer science

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Positioning, Navigation, and Timing (PNT) Technology.

Technology Areas

  • Space