GPS/INS integration without gyro

This paper proposes locating algorithms for integrating GPS and INS. It can locate the position of the vehicle from once to ten times per second. The main contribution of our research is presenting a two-axis accelerometer for INS a gyroscope is not to be used. The proposed method assumes the direction of Y-axis acceleration and the previous velocity are in the same line, so that the method can find out the current velocity and heading based on the sine theorem of vector triangles. The organization of this paper is described as follows. Firstly, INS location is introduced, then three cases of 'GPS lost' location are defined, and their solutions are proposed. Finally, an experiment to verify the proposed algorithms is shown.