Study on Attitude Angular Velocity Extracting of Carrier in INS/GNSS Integrated Navigation System

Attitude angular velocity of moving carrier of INS/GNSS integrated navigation system is adapted to construct error dynamic equation state matrix during information fusion process.The problem is that it is commonly unable for inertia platform to output attitude angular velocity of moving carrier.The relationship between frame angular and carrier attitude angular of inertia platform is analyzed,and the hardware reforming and data processing are adapted to extract attitude angular velocity out of inertia platform,and the semiphysical simulation experiment of INS/GNSS integrated navigation system is accomplished.