Unified approach to ultra-tightly-coupled GPS/INS integrated navigation system

A unified approach to the ultra-tightly coupled GPS/INS Integrated navigation system is proposed. It is shown that other methods of ultra-tightly coupled GPS/INS integrated navigation systems are included in the proposed framework, and some implementation issues are discussed. In order to show the validity of the proposed approach, position accuracy and anti-jamming capabilities of three methods of ultra-tightly-coupled GPS/INS integration system, included in the proposed framework, were compared. The comparisons were carried out through computer simulations and post-processing of data from a GNSS hardware simulator. The results show that the proposed approach works well and gives accurate navigation output with anti-jamming capability.