Integration of GPS and Baro-Inertial Loop Aided Strapdown INS and Radar Altimeter

Abstract

This paper presents development of a Kalman filter for optimal combination of GPS, baro-inertial loop aided strapdown INS and radar altimeter data. Simulation results are provided to show the improvement in performance that occurs with an optimal combination of navigation data provided by GPS, INS and radar altimeter.

Indexing terms:

• GPS & INS integration
• Baro-inertial loop aided strapdown INS
• Radar altimeter
• Kalman filter