Error estimation and selection of inertial navigation system parameters for uncoupled integration with multi-antenna systems

Abstract

The known types of INS and GNSS integration have been analyzed. Uncoupled integration with INS has been chosen as a solution of the long-term cold start issue after short losing of the GNSS signals in multi-antenna systems. Error estimation of the basic vector has been obtained and taken as the main criterion of the proposed method for choosing INS parameters.