INTEGRATED GNSS/INS SYSTEMS FOR SEAMLESS NAVIGATION

Navigation systems are commonly based on GNSS receivers. The article presents the current status of GNSS, discusses GNSS navigation and describes GPS navigation instruments. Some applications require seamless navigation which cannot be provided by GNSS itself. The system for uninterrupted navigation uses Inertial Navigation System besides GNSS. The bases of inertial navigation, Inertial Measurement Units, types of IMU and typical inertial sensor errors are presented. The processing of data from an integrated GNSS/INS is usually performed either by a traditional Kalman Filter or an artificial neural network. According to some of the research, the latter performs better than the conventional Kalman Filter. Seamless navigation can be improved or even made possible by the use of pseudolites or Ultra-wide Band.