The purpose of this document is to describe a simple method of integrating Inertial Navigation System (INS) information with Global Positioning System (GPS) information for an improved estimate of vehicle attitude and position. A simple two dimensional (2D) case is considered. The attitude estimates are derived from sensor data and used in the estimation of vehicle position and velocity through dead reckoning within the INS. The INS estimates are updated with GPS estimates using a Kalman filter. This tutorial is intended for the novice user with a focus on bringing the reader from raw sensor measurements to an integrated position and attitude estimate. An application is given using a remotely controlled ground vehicle operating in assumed 2D environment. The theory is developed first followed by an illustrative example.


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    Title :

    A Short Tutorial on Inertial Navigation System and Global Positioning System Integration


    Contributors:

    Publication date :

    2015-09-01


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English





    Global positioning systems, inertial navigation, and integration

    Grewal, Mohinder S. / Weill, Lawrence R. / Andrews, Angus P. | TIBKAT | 2001


    Global positioning systems, inertial navigation, and integration

    Grewal, Mohinder S. / Weill, Lawrence R. / Andrews, Angus P. | TIBKAT | 2007