%0 Conference Paper
%A Tran, Duc Tan
%A Huynh, Huu Tue
%A Nguyen, Thang Long
%A Nguyen, Phu Thuy
%A Nguyen, Van Chuc
%B REV: the 10th biennial Vietnam Conference on Radio & Electronics
%C Hanoi, Vietnam
%D 2006
%F SisLab:1732
%P 6-10
%T Designing Kalman filters for integration of inertial navigation system and global positioning system
%U https://eprints.uet.vnu.edu.vn/eprints/id/eprint/1732/
%X Due to the strong growth of MEMS technology, the Inertial Navigation System (INS) is wi del y applie d to navi gati on and g ui dan ce of aircraft movements. However, there are existing errors in the accelerometer and gyroscope signals that cause unacceptable drifts. To minimize these effect s on the INS syste m, a GPS is u sually employed simultaneously with an INS in order to increase the dimension of the system; the desired parameters are estimated by the Kalman filtering technique applied to the enlarged system. In this paper, we prese nt a st ruct ure con sistin g of a Kal man Filter (KF) of whi ch t he input is the difference between the noisy INS output and the noisy GPS output; the output of KF is finally introduced into the unaided INS system. In this structure, INS errors are compensated by a feedforward and a feedback loop. The overall performance of the system is analyzed by simulation; and results show that this technique substantially improves the quality of the navigation and guidance systems.