Attitude determination in integrated GNSS-inertial navigation systems in information and measurement insufficiency conditions

Abstract

Abstract The article presents the attitude determination algorithm for multi-antenna global navigation satellite and inertial integrated navigation system operating under information and measurement insufficiency conditions. The information and measurement insufficiency conditions are understood as the impossibility of the inertial system alignment on a fixed base and the absence of a redundant number of satellites to resolve the carrier phase integer ambiguity. The ability of the navigation system to operate in such conditions is achieved by combining several existing attitude determination methods and using the new method of attitude determination using ambiguous satellite phase measurements and absolute angular rate measurements. The hardware-in-the-loop simulation results using a 2-axis motion simulator and microelectromechanical systems inertial sensors are presented. The results confirm the efficiency of the proposed approach to the design of the navigation system algorithm.