A GPS/INS Integration System with New Orientation Measurement Scheme for Land Vehicle Application

This paper works towards the development and implementation of a GPS/INS integration system for the land vehicle application. A developed INS system was introduced to keep measuring the position/orientation of the vehicle when the vehicle is passed through GPS signal shading area. The paper presents new algorithm of computing 3D orientation of the vehicle supplied to an error model. Roll/pitch estimation compensating external acceleration is performed with the INS, and an heading (yaw) angle is obtained with GPS information. And then, the orientation information is supplied to a linearized Kalman filter for the error model. The field test of the resulting system was performed around a non-flat contour and some comments are addressed on its performance