Influence of Inertial Sensor Errors on GNSS/INS Integrated Navigation Performance

In GNSS/INS navigation integrated systems, the selection of inertial sensors is a factor which can impact their system performances implicitly. Unfortunately, the research of the relationship between the inertial sensor errors and the navigation performances is not sufficient yet. In this case, the mathematical relationship between the sensor quality and the INS (Inertial Navigation System) performance is firstly derived in details based on a 6 DOF (Degree of Freedom) model. Since the INS is a part of the GNSS/INS system, the influence of the sensor errors on the total performance is further analyzed. By simulating an integrated system using three different grade IMUs (Inertial Measurement Units), the influence mechanism is proved.