Indian Journal of Science and Technology

Abstract

Background: This article reviews the integration of INS with a differential global positioning system using a specific mathematical tool for simultaneous processing of the both system measurements and namely the Kalman filtering. The article also includes the algorithms for increasing INS accuracy. Method: The first part of the article describes the mathematical positioning methods using the inertial sensors and the odometer. The second part is devoted to the description of methods and algorithms intended to eliminate errors in the INS mathematical programming software. The third part provides a mathematical model for positioning an object by means of an integrated inertial satellite system. The fourth part lists the experimental results and the conclusions based on the results of this experiment. Findings: The authors of this article made the main research contribution by carrying out experiments and processing relevant data when studying the integration of the inertial navigation and the global positioning systems. Applications/Improvements: The article reports on the results ot the described experiments with several significant conclusions concerning the studied direction of the inertial navigation and global positioning systems theory.

Keywords: Accelerometer, Complementary Filter, Exponential Filter, Global Positioning, Gyroscope, Inclinometer, Inertial Navigation, Inertial Sensors, Kalman Filter, Odometer, Orientation