An integrated system of GPS and INS with azimuth rotated platform

For its synergistic relationship, the integrated GPS/INS navigation system has been adopted in many navigation systems. The azimuth rotating Gimbaled Inertial Navigation system (ARGINS) can modulate the gyro drift and accelerometer bias by rotating the platform about the azimuth axis and so improve the observability properties of errors and the navigation accuracy. In this paper, the dynamic error model and the measurement model of loosely integrated ARGINS/GPS system for kalman filter are derived first,then the simulation is carried out for integrated ARGINS/GPS system, which adopts the position and velocity as its measurement variables. The simulation result shows that the ARGINS/GPS system can improve the evaluation precision and the quickness of horizontal misalignment angles of platform, compared with the integrated system of north-pointing GINS and GPS.