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.