Development of a deeply-coupled GPS/INS integration algorithm using quaternions

A deeply-coupled Global Positioning System (GPS)/ Inertial Navigation System (INS) integration algorithm is proposed in this paper. The mathematical system process and observation models are provided. Due to the nonlinearity of the system models, an Extended Kalman Filter (EKF) is employed, which uses quaternions as the representation of attitude. The integrated algorithm is tested using the IFEN GPS radio frequency (RF) signal simulator. Both static and dynamic scenarios are simulated. Numerical results are compared and analyzed.