Development of a tightly integrated ring laser gyro based navigation system

The development of a small, tightly integrated GPS/inertial navigation system (INS) is being pursued following the development of a miniaturized GPS receiver and a compact multiaxis ring laser gyro. The tradeoffs involved in achieving the present system architecture, along with a system description and performance summary, are presented. A description of both the inertial hardware and the GPS receiver hardware, as well as a detailed implementation of both Kalman filters (inertial and receiver), is discussed. Finally, the test program is presented