Initial attitude determination and correction of gyro-free INS angular orientation on the basis of GPS linear navigation parameters

The exclusion of gyroscopes from navigation system architecture achieves an essential reduction in systems cost. However, the absence of gyroscopes leads to the growth of errors in the determination of navigation system angular orientation. This, in its turn, leads to the growth of errors in the determination of vehicle coordinates. Therefore, one of the main problems in the construction of an integrated navigation system, which is based on a gyro-free inertial navigation system (INS) and a single antenna Global Positioning System (GPS), is the determination of the initial angular orientation and correction of gyro-free INS angular characteristics on the basis of linear navigation parameters (coordinates and velocity) that are obtained from GPS. This paper is devoted to the description of the proposed solution method for this problem