Date of Award
12-1995
Document Type
Thesis
Degree Name
Master of Science
Department
Department of Electrical and Computer Engineering
First Advisor
Robert Riggins, PhD
Abstract
An extended Kalman filter (EKE) is used to combine the information obtained from a Global Positioning System (GPS) receiver and an Inertial Navigation System (INS) to provide a navigation solution. This research compares the results of a tightly-coupled GPS/INS integrated system with a loosely-coupled integrated system, using real world data. A fair comparison is accomplished by using the same sets of data, and keeping the integration structures as close as possible. Both integrations are feedforward and have the same error states in the navigation Kalman filters. Differences between the two, such as navigation solutions and tuning values, are shown in the research.
AFIT Designator
AFIT-GE-ENG-95D-19
DTIC Accession Number
ADA303424
Recommended Citation
Nuibe, Warren H., "A Comparison of Loose and Tight GPS/INS Integration Using Real INS and GPS Data" (1995). Theses and Dissertations. 6198.
https://scholar.afit.edu/etd/6198