Activity-Artifact Flow of GPS/INS Integration for Positioning Error De-Correlation

摘要

Vehicle positioning systems are composed of positioning sensors and positioning algorithms. Positioning sensors provide direct or indirect position, velocity, attitude and timing information. Positioning algorithms transfer sensor direct readings to desired positioning information. Positioning sensors are classified into absolute sensors and dead reckoning sensors (Sukkarieh, 2000). Absolute sensors directly provide the relationships between vehicle position and external positioning references. Dead reckoning sensors measure the vehicle’s position and orientation increment to its last moment without external references. Global Navigation Satellite System (GNSS) is a widely used absolute positioning system using external satellite references. Inertial Navigation System (INS) is an example of dead reckoning positioning system. INS uses inertial measurement unit (IMU) to measure the self-contained position changing rate, then computes the desired positioning information. INS has been employed in navigation for rockets, missiles, aircrafts, land vehicles, ocean vessels and robots.