Novel GPS/INS Loose Integrated Navigation Algorithm

This paper describes a novel GPS/INS loose integrated navigation algorithms which is intended for applications with GPS signal is obtained at intervals of an hour or even longer. Since the constant errors of IMU can be removed greatly by dual-axis modulation, stochastic error introduced by the gyros of IMU is the main systemic error source which leads the azimuth error to divergent as a function of time, the novel method called Two Point Correction (TPC) is applied to compensate the stochastic error. The psi-angle differential equations are used to estimate the azimuth error of INS. As a result, the methods implemented for the real system and the performance is significantly enhanced, while the required numerical methods are simple and efficient.