INTEGRATION ARCHITECTURES OF NAVIGATION SYSTEM

Abstract

The content of the contribution is the integration of INS and GNSS systems. The freely linked INS / GNSS integration architecture uses GNSS position and velocity data as measuring inputs to the integration algorithm, regardless of the type of INS correction or GNSS output implementation. The paper emphasizes the appropriate Kalman filtration and its basic mathematical apparatus. At the end of the paper is a brief overview of the basic equations of inertial navigation.