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Thesis Reykjavík University > Tækni- og verkfræðideild > MEd / MPM / MSc verkefni >

Please use this identifier to cite or link to this item: http://hdl.handle.net/1946/12683

Title: 
  • INS/GPS Error Analysis and Integration
Submitted: 
  • June 2012
Abstract: 
  • Inertial navigation systems have been used in aviation for many years. These systems are independent and use acceleration and angular velocity measurements to calculate position. Due to the integrations of the navigation equations for the position and velocity the errors grow over time. To limit the growth of errors the GPS and INS can be used in an integrated solution, using Kalman filtering, to minimize the errors.
    An INS and integrated INS/GPS error models are developed and implemented as well as a system solution from ADSE engineering and consulting firm, that is based on using GPS only for the navigation positions part. All the solutions are tested and compared in order to evaluate the difference in performance and find out which solution delivers the highest accuracy, or lowest errors.
    Results show, both in stationary and navigation modes, that the integrated INS/GPS solution delivers a better accuracy than can be achieved from individual systems (INS or GPS). The ADSE system solution only reduces the GPS error mean value (about 5m). The response time is longer compared with INS. Based on this analysis the integrated INS/GPS solution is a better choice, regardless of implementation difficulty and cost.

Accepted: 
  • Aug 1, 2012
URI: 
  • http://hdl.handle.net/1946/12683


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