• Journal of Positioning, Navigation, and Timing
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• v.11 no.2
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• pp.59-70
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• 2022

In this paper, a GPS/GF-INS integrated navigation system is proposed, in which the high rate attitude aiding signal, the high rate position and velocity aiding of GPS receiver is used for the cube structure of the GF-IMU, effectiveness of the proposed GPS/GF-INS integrated navigation system was shown when the vehicle follows two trajectories, circling and spiraling. Performance evaluation results show that the proposed GPS/GF-INS integrated navigation method gives better navigation outputs when the attitude output of GPS is used and more better navigation outputs are obtained when the rate of GPS aiding signal is higher.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.103-107
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• 2006

At present, most efforts tend to develop a INS which is only based linear accelerometers, because of the low cost micro-machining gyroscopes lack of the accuracy needed for precise navigation application and possible achieving the required levels of precise for micro-machining accelerometer. Although it was known in theory that a minimum of six accelerometers are required for a complete description of a rigid body motion, and any configuration of six accelerometers (except for a "measure zero " set of six-accelerometer schemes) will work. Studies on the feasible configuration of GF-INS indicate that the errors of angular velocity resolved from the six accelerometers scheme are diverged with time or have multi solutions. The angular velocity errors are induced by the biases together with the position vectors of the accelerometers, therefore, in order to treat with the problem just mentioned, researchers have been doing many efforts, such as the extra three accelerometers or the magnetometers may be taken as the reference information, the extended Kalman filter (EKF) involved to make the angular velocity errors bound and be estimated, and so on. In this paper, the typical configurations of GF-INS are introduced; for each type GF-INS described, the solutions to the angular velocity and the specific force are derived and the characteristic is indicated; one of the corresponding extend Kalman filters are introduced to estimate the angular errors; parts of the simulation results are presented to verify the validity of the equations of angular velocity and specific force and the performance of extend Kalman filter.

• Journal of Positioning, Navigation, and Timing
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• v.8 no.3
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• pp.107-117
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• 2019

When a vehicle moves with a high rotation rate, it is not easy to measure the angular velocity using an off-the-shelf gyroscope. If the angular velocity is estimated using the extended Kalman filter in the gyro-free inertial navigation system, the effect of the accelerometer error and initial angular velocity error can be reduced. In this paper, in order to improve the navigation performance of the gyro-free inertial navigation system, an angular velocity estimation method is proposed based on an extended Kalman filter with an accelerometer random bias error model. In order to show the validity of the proposed estimation method, angular velocities and navigation outputs of a vehicle with 3 rev/s rotation rate are estimated. The results are compared with estimates by other methods such as the integration and an extended Kalman filter without an accelerometer random bias error model. The proposed method gives better estimation results than other methods.