Universal model of a ground vehicle for realization of integrated inertial-satellite navigation systems

Abstract

Tight integration of satellite and strapdown inertial navigation systems is used for automo tive vehicles and complicated by the necessity to design adequate models of the object of research. A universal stochastic model adequately reflecting the processes of arbitrary motion of a ground vehicle is synthesized in a canonical form. The model can be used for realization of tightly coupled inertial satellite navigation systems. The results of simulation modelling are given, which confirm the effi ciency of the synthesized model.

The Use of Nonlinear Digital Filtering in the Navigation Task of Integrated Inertial-Satellite System

“…-east, north and vertical components of the linear velocity relative to the Earth SINS; ), and functions dimension are 16×1, 15×1 and 15×6, respectively. The choice of this particular nonlinear dynamic model is explained by the fact that it can be used to describe the MEMS SINS with different sets of sensors and allows the realization of methods of nonlinear digital filtering for integration of the heterogeneous measurement information in the IS NS [6].…”