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Assessment of Aided-INS Performance

Published online by Cambridge University Press:  25 November 2011

Itzik Klein ,
Sagi Filin ,
Tomer Toledo  and
Ilan Rusnak
Itzik Klein*
Affiliation:
(Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology, Haifa 3200, Israel) (Rafael-Advanced Defence Systems Ltd., P.O. Box 2250, Haifa 31021, Israel)
Sagi Filin
Affiliation:
(Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology, Haifa 3200, Israel)
Tomer Toledo
Affiliation:
(Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology, Haifa 3200, Israel)
Ilan Rusnak
Affiliation:
(Rafael-Advanced Defence Systems Ltd., P.O. Box 2250, Haifa 31021, Israel)
*
(E-mail: iklein@technion.ac.il)
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Abstract

Aided Inertial Navigation Systems (INS) systems are commonly implemented in land vehicles for a variety of applications. Several methods have been reported in the literature for evaluating aided INS performance. Yet, the INS error-state-model dependency on time and trajectory implies that no closed-form solutions exist for such evaluation. In this paper, we derive analytical solutions to evaluate the fusion performance. We show that the derived analytical solutions manage to predict the error covariance behavior of the full aided INS error model. These solutions bring insight into the effect of the various parameters involved in the fusion of the INS and an aiding sensor.

Keywords

Aided Inertial Navigation SystemsAlgebraic Riccati Equation
Type
Research Article
Information
The Journal of Navigation , Volume 65 , Issue 1 , January 2012 , pp. 169 - 185
Copyright
Copyright © The Royal Institute of Navigation 2011

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