Abstract:

This paper presents a Doppler aided strapdown inertial navigation system which adoptes low accuracy inertial sensors. The configuration and dynamic equtions of the integrated system are discussed and derived. One optimum Kalman filter and four suboptimum Kalman filters are designed and evaluated. A covariance analysis of the .integrated system performance is completed. The results of the covariance analysis indicate that the integrated system which adoptes the gyros with random drift of 0.1/h and the accelerometers with bias of 10^-4g can achieve the navigation accuracy of 1 nm/h by means of the Kalman filter.