Integration of Inertial Navigation System and Global Positioning System Using Kalman Filtering

Inertial navigation blended with other navigation aids like GPS, has gained significance due to enhanced navigation and inertial reference performance. The INS, individually can calculate the position of the aircraft without any help from the outside world. However, a large number of errors are introduced by sensors leading to an unacceptable drift in the output. Hence a GPS is used to aid the INS, using a Kalman filter which helps in estimating the errors in the INS and thus updating position to improved accuracy. The simulation of the integration of the INS and GPS using Kalman filtering has been completed using MATLAB and C. This has been tested on the simulator for the target hardware. The details have been explained in the report.

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