The development of an embedded, integrated INS/GPS system
An embedded, real-time, loosely-coupled INS/GPS integration system has been developed and used for an unmanned land vehicle's control and navigation. For this integrated system, a Kalman filter software is used for INS error damping and corrections via the weighted aiding of a GPS output. The detailed development work will be presented in this paper including algorithm simplification, sensor selection and critical problems solving. Vehicular trial is also conducted. Simulated outage in GPS availability is made to assess the bridging accuracy of this system.
embedded ins/gps kalman filtering qnx