Study on a novel marine INS/GPS integrated navigation technology

When designing Kalman filter for INS/GPS, usually position and velocity are chosen as the measuring variables. With the development of GPS attitude determination, GPS has already been able to measure the carrier´s attitudes. So attitude can be augmented as the measuring variables. In this paper a new INS/GPS integrated navigation System is designed, in which position, velocity and attitude are chosen as the measuring variables. The observation equation of this new marine INS/GPS integrated navigation system is deduced in detail. Simulation results show that the evaluation precision and velocity of the navigation parameters are effectively improved in the new integrated navigation system.