Simulation of GPS/INS and Attitude Determination Integrated Navigation with Kalman Filter

The GPS and INS integrated navigation system using the observation of position,velocity and attitude are discribed,and the dynamic equations for the integrated system are set up.With the given airplan trace, the simulation analysis to integrated system are performed with the help of digital computer using the theory of Kalman filter.The result shows that the integration attitude measurements can provide direct observation of the error of SINS,thus improve the performance of the navigation system.Another observation is that the GPS attitude measurements do have a significant effect on the resulting position accuracy and are more effective in reducing the heading error than the position measurements.If GPS attitude measurements are the only measurements used in the Kalman filter,the performance of the navigation system can be better than that of only using position measurements.