Tightly-coupled GNSS-aided inertial system with modulation rotation of two-antenna measurement unit

This report presents the results of research on the development of a small-sized, all-latitude GNSS-aided inertial system with compass properties, designed as a tightly-coupled system. In course of research, a breadboard model of the system was created, where the accuracy of determined orientation parameters, including true heading, was observed to improve considerably in the operation mode with the use of information from two-antenna satellite navigation equipment. It became possible to determine the true heading when observing the signal from just one navigation satellite. Heading accuracy is provided for the signals with both code and frequency division.