Uniform framework for GPS/IMU integration using Kalman filtering
Herrington, John B.
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Today's modern avionics systems rely heavily on the integration of Global Positioning System (GPS) data and the air vehicle's accelerations obtained by an Inertial Measurement Unit (IMU). To properly resolve the GPS and the IMU data, one must have an understanding of the different coordinate systems involved. Since the GPS provides data in one coordinate reference frame and the IMU measures accelerations in another, transforming the data freely from one frame to the next is imperative if the avionics system is to provide meaningful data to the aircrew. This thesis provides a uniform approach to analysis and design of an integrated GPS/IMU avionics system using MATLAB/Simulink software development tools. Topics covered include: Coordinate Systems and Transformations ,Fundamentals of Inertial Sensors, Tangent Plane Navigation, Kinematic Equations and Error Analysis, Global Positioning System (GPS) Sources and Errors, and Kalman Filter Design.