The paper deals with the study of the influence of the inertial sensors errors on the position, speed and attitude of a bidimensional strap-down inertial navigation system (SDINS) in a vertical plane. To test this influence we put up MATLAB/SIMULINK models for the acceleration and rotation sensors based on the sensors data sheets and on the IEEE equivalent models for the inertial sensors. The m...

GPS attitude outputs or carrier phase observables can be effectively utilized to compensate the attitude error of the strapdown inertial navigation system. However, when the integer ambiguity is not correctly resolved and/or a cycle slip occurs, an erroneous GPS output can be obtained. If the erroneous GPS output is applied to the attitude determination GPS/INS (ADGPS/INS) integrated navigation...

GPS receivers are widely used in navigation and positioning, due to the global availability of GPS signals, its low cost and low power consumption. However, it does not work sufficiently in all signal environments. This raises the need to integrate GPS with other sensor systems (for instance, the inertial navigation system (INS)) to have a robust, continuous navigation solution regardless of th...

This paper examines a current research project studying limited domain vehicle tracking using inertial measurements, specifically from accelerometers. Key-Words: Position, Tracking, Localization, Accelerometers, Vehicle

This work investigates the relationship between system observability properties and estimator inconsistency for a Visionaided Inertial Navigation System (VINS). In particular, first we introduce a new methodology for determining the unobservable directions of nonlinear systems by factorizing the observability matrix according to the observable and unobservable modes. Subsequently, we apply this...

This paper considers a fault accommodation problem for inertial navigation systems (INS) that have redundant inertial sensors such as gyroscopes and accelerometers. It is wellknown that the more sensors are used, the smaller the navigation error of INS is, which means that the error covariance of the position estimate becomes less. Thus, when it is decided that double faults occur in the inerti...

The concept and results of integration of a strap-down inertial navigation system (INS) based on low-accuracy inertial sensors and the global positioning system (GPS) have been presented in this paper. This system is aimed for the purposes of navigation, automatic control, and remote tracking of land vehicles. The integration is made by the implementation of an extended Kalman filter (EKF) sche...