INS/GNSS Integration with Account for Timing Skew and Displacement of GNSS Antenna. Experience of Practical Realization

We examine two aspects specific to complex data fusion algorithms in integrated strapdown inertial navigation systems aided by global positioning systems, with their inherent spatial separation between the GNSS antenna phase center and the inertial measurement unit, as well as with the timing skew between their measurements. The first aspect refers to modifications of mathematical models used in INS/GNSS integration. The second one relates to our experience in their application in onboard airborne navigation algorithms developed by Moscow Institute of Electromechanics and Automatics.