Design of Kalman Filter for Augmenting GPS to Ins Systems .

Authors

• Mohammed Z. Alfaiz, Computer Eng.Dept.Nahrain University
• Salam A. Ismail, Informatics Institute for Postgradute stdies Iraqi Commission For Computer and Information

Document Type

Original Study

Abstract

Strapdown Inertial Navigation Systems (SDINS) and Global Positioning Systems (GPS) both can be used for a wide range of navigation functions. Each has its strength and weakness in this respect. Kalman filter is used to incorporate information from the accelerometers and gyros at high rates and information from GPS measurements at lower rates to improve ballistic missile strapdown navigation systems by GPS aiding. A linearized Kalman filter model is implemented for augmented system based on the navigation frame to estimate the inertial system error based on the measurement error between the GPS and INS systems. A three degree of freedom missile flight simulator with strapdown navigation algorithms was carried out in order to compare the proposed augmented system with other navigation algorithms. The presents results show that the error in both position and velocity is very small compared with other algorithms.

How to Cite This Article

Alfaiz, Mohammed Z. and Ismail, Salam A. (2006) "Design of Kalman Filter for Augmenting GPS to Ins Systems .," Iraqi Journal of Computers, Communications, Control and Systems Engineering: Vol. 6: Iss. 3, Article 7.
Available at: https://ijccce.researchcommons.org/journal/vol6/iss3/7