INS/GNSS Integration with Account for Timing Skew and Displacement of GNSS Antenna. Experience of Practical Realization
N. B. Vavilova, 
A. A. Golovan,
A. V. Kozlov,
I. A. Papusha,
O. A. Zorina,
E. A. Izmailov,
S. E. Kukhtevich,
A. V. Fomichev
A. A. Golovan,
A. V. Kozlov,
I. A. Papusha,
O. A. Zorina,
E. A. Izmailov,
S. E. Kukhtevich,
A. V. Fomichev https://doi.org/10.17285/0869-7035.0070
Abstract
We examine two aspects specific to complex data fusion algorithms in integrated strapdown inertial navigation systems aided by global positioning systems, with their inherent spatial separation between the GNSS antenna phase center and the inertial measurement unit, as well as with the timing skew between their measurements. The first aspect refers to modifications of mathematical models used in INS/GNSS integration. The second one relates to our experience in their application in onboard airborne navigation algorithms developed by Moscow Institute of Electromechanics and Automatics
About the Authors
N. B. Vavilova
Moscow State University, Russia
Russian Federation
Russian Federation
A. A. Golovan
Moscow State University, Russia
Russian Federation
Russian Federation
A. V. Kozlov
Moscow State University, Russia
Russian Federation
Russian Federation
I. A. Papusha
Moscow State University, Russia
Russian Federation
Russian Federation
O. A. Zorina
Moscow Institute of Electromechanics and Automatics, JSCMoscow Institute of Electromechanics and Automatics, JSC, Russia
Russian Federation
Russian Federation
E. A. Izmailov
Moscow Institute of Electromechanics and Automatics, JSC, Russia
Russian Federation
Russian Federation
S. E. Kukhtevich
Moscow Institute of Electromechanics and Automatics, JSC, Russia
Russian Federation
Russian Federation
A. V. Fomichev
Moscow Institute of Electromechanics and Automatics, JSC, Russia
Russian Federation
Russian Federation
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For citations:
Vavilova N.B., Golovan A.A., Kozlov A.V., Papusha I.A., Zorina O.A., Izmailov E.A., Kukhtevich S.E., Fomichev A.V. INS/GNSS Integration with Account for Timing Skew and Displacement of GNSS Antenna. Experience of Practical Realization. Giroskopiya i Navigatsiya. 2021;29(3):52-68. (In Russ.) https://doi.org/10.17285/0869-7035.0070
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