NCO command generator design for the ultra-tightly coupled GPS/INS integrated navigation system method

In the ultra-tightly coupled GPS/INS integrated navigation system, the integrated Kalman filter plays the role of the signal tracking loop filters. This type of integration system is known to provide better navigation performance than other types of integration systems. In the ultra-tightly coupled system, the NCO commands are generated from the compensated SDINS output and calculated satellite position and velocity. In this paper, a method for generating NCO command is presented. In order to show the validity of the presented method a simulation system for an ultra-tightly coupled integrated navigation system was configured, in which a discriminator was used.