I.A. Nagin1, A.Yu. Shatilov2, T.A. Muhamedzyanov3, Yu.M. Inchagov4

1,3,4 JSC «KB NAVIS» (Moscow, Russia)

2 National Research University «MPEI» (Moscow, Russia)

To improve the reliability and accuracy of navigation solution, the integration of the satellite navigation receiver with the inertial navigation system is used. These systems have complementary characteristics. An important part of the combined systems is the integration algorithm, which largely determines the final characteristics. The synthesis of such an algorithm for velocity, attitude and the errors of the inertial measuring unit estimation has been carried out. The algorithm is implemented in the software of the prototype of the inertial-satellite navigation system. The results of the experimental evaluation of algorithm’s characteristics for automotive dynamics are shown.

Nagin I.A., Shatilov A.Yu., Muhamedzyanov T.A., Inchagov Yu.M. GNSS/IMU integration algorithm experimental evaluation.

Radiotekhnika. 2021. V. 85. № 9. P. 52−64. DOI: https://doi.org/10.18127/j00338486-202109-05 (In Russian)

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