Integrated system NV216C-IMU tightly coupling algorithm testing results

To improve the reliability and accuracy of the navigation solution, the integration satellite navigation receiver with inertial system is used. Integration takes advantage of complementary properties of these systems and improves consumer characteristics of the final product. The resulting system is called inertial satellite navigation system. 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. Key features of the algorithm are: inertial measurement unit errors estimation; adaptation of the equivalent noise band of the phase lock loop filter; implementing of the supporting acceleration measurements into phase lock loop estimations; navigation solution computation using pseudovelocities estimations. 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.