A KALMAN FILTER FOR THE INTEGRATION OF A （一个卡尔曼滤波器的集成）.pdf

A KALMAN FILTER FOR THE INTEGRATION OF A LOW COST INS AND AN ATTITUDE GPS Robert Wolf, Bernd Eissfeller, Günter W. Hein Institute of Geodesy and Navigation (IfEN) University FAF Munich D-85577 Neubiberg, Germany Tel.: +49-89-6004-3425, Fax: +49-89-6004-3019 E-Mail: institut@ifen1.bauv.unibw-muenchen.de BIOGRAPHY found in using more simple inertial algorithms, most of our calculations are performed in the inertial reference frame Prof. Dr. Guenter W. Hein is Full Professor and Director and then transformed to the navigation frame. This of the Institute of Geodesy and Navigation at the software takes into account algorithmic errors like coning University of Federal Armed Forces Munich. He is and sculling. The test results for the free drifting INS, responsible for research and teaching in the field of high- obtained with the MotionPak navigation software, show precision GPS/GLONASS positioning, navigation physical errors in the range of ± 0.5° to ± 1° in attitude, in velocity geodesy, gravimetry and satellite geodesy. He works in the of ± 10 m/s and in position of several hundreds of meters field of GPS since 1984 and is author of numerous papers after the first five minutes st