GPS/INS integration for civil aviation

Abstract

The mechanization equations for generating the INS (inertial navigation system) solution in the proper coordinates are presented. Two different Kalman filter error models for integrating GPS (Global Positioning System) with INS are derived. The model which uses spheroidal component differences rather than Cartesian vector differences is preferable, since it uses error states which can be directly corrected in the INS mechanization equations.<>