INS/GPS Integration System with DCM Based Orientation Measurement

This paper works toward the development and implementation of a INS/GPS integration system for the land vehicle application. A developed INS system is introduced to keep measuring the position/orientation of the vehicle when the vehicle is passed through GPS signal shading area. A new orientation scheme is studied to full till the measurement states of the integration system. Roll/pitch estimation compensating external acceleration is performed with inertial sensors and yaw angle is obtained with GPS information. And then, the orientation information is supplied to the linearized Kalman filter of error model. This process is shown to improve the performance of the integration system. The field test was performed along a non-flat contour with some dismissals of GPS on it.