GPS/INS integration without gyro

This paper proposes one locating algorithms for integrating GPS and INS, it can locate the position of vehicle from once to ten times per second. The main contribution of our research is presenting one two-axis accelerometer for INS, and gyroscope is not to be used. In general, three cases of GPS lost locating are (1)while GPS locating report rate is once per second, in the interval of one second between neighboring reports is no locating output; (2)GPS could Pot locate about one minute after supplying power; (3)huge building could shadow GPS satellite signal in city, such that GPS would lose locating. This paper proposes locating algorithms which are (1) GPS provided the last time location of vehicle; (2) INS uses GPS location and itself measurement of acceleration to find out current location. The function of INS can increase locating report rate of INS/GPS integration system; (3) GPS will correct INS locating each second to reduce the accumulation error of INS locating. Proposed method assumptions the direction of Y-axis acceleration and the last time velocity in the same line, so that the method can find out current velocity and heading based on Sine Theorem of vector triangle. The organization of this paper is described as follows. INS locating is introduced firstly, then three cases of GPS lost locating are defined, and their solution are proposed in section 4, and an experiment to verify proposed algorithms is shown in section 5.