Fully Integrated Navigation based on INSGPS Magnetometer

Abstract Inertial Navigation System (INS) and Global Positioning System (GPS) composite guidance technology are the most advanced all-weather, autonomous guidance technology. The principle is to use a Almanac filter to combine the two and after filtering, give an optimal estimate of a set of state variables (such as position, velocity, attitude angle, gyro drift, accelerometer bias, clock difference, etc.). And periodically feedback back to INS to correct it. The combined system can output all navigation information at a higher rate, superior short-term and long-term accuracy, greatly improve system availability and smoother positioning and output trajectory. The inertial navigation system (Inertial Navigation Oyster, INS) and the satellite-based positioning system represented by GPS have strong complementary advantages. GPS provides high accuracy and stability and continuously monitors the inertia sensor’s error (gyro drift).