Accession Number : ADA303424

Title :   A Comparison of Loose and Tight GPS/INS Integration Using Real INS and GPS Data.

Descriptive Note : Master's thesis,

Corporate Author : AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING

Personal Author(s) : Nuibe, Warren H.

PDF Url : ADA303424

Report Date : DEC 1995

Pagination or Media Count : 91

Abstract : An extended Kalman filter (EKE) is used to combine the information obtained from a Global Positioning System (GPS) receiver and an Inertial Navigation Sys tem (INS) to provide a navigation solution. This research compares the results of a tightly-coupled GPS/INS integrated system with a loosely-coupled integrated system, using real world data. A fair comparison is accomplished by using the same sets of data, and keeping the integration structures as close as possible. Both integrations are feedforward and have the same error states in the navigation Kalman filters. Differences between the two, such as navigation solutions and tuning values, are shown in the research.

Descriptors :   *COUPLING(INTERACTION), *COMPARISON, *INTEGRATION, *GLOBAL POSITIONING SYSTEM, *INERTIAL NAVIGATION, INTEGRATED SYSTEMS, KALMAN FILTERING, THESES, PROBLEM SOLVING, SOLUTIONS(GENERAL), TUNING.

Subject Categories : Air Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE