An Ultra-Tightly MIMU/GPS Integrated System and its Integrity Monitoring

To improve the GPS receiver´s robustness and reliability to high dynamics and jamming, a novel ultra-tight Micro-Inertial Measurement Unit (MIMU)/GPS software receiver integration system and its integrity monitoring was presented. The integrated navigation filter and Kalman filter were designed to ensure accuracy and availability of the positioning and velocity solution in the cases of high dynamic flight trajectory and low signal to noise ratio. Furthermore, a composite integrity method which comprised the integrated navigation filter residual detection and the rate detection based on robust differentiation via sliding mode was proposed to monitor the integrity of this ultra-tight integration system. The results show that the novel ultra-tight MIMU/GPS software receiver integration system can increase the receiver´s robustness and reliability to high dynamics and jamming.