Stringent requirements on the accuracy of attitude determination are currently a major challenge for strapdown INS/GPS integration, which is at the core of self-contained airborne remote sensing and mapping systems. This paper reviews the error models for INS/GPS integration and closely examines the designing filtering methods for improving attitude accuracy in the bandwidth in which an inertial system does not benefit from frequent GPS position/velocity updates. Several filtering methods are designed based on the spectral analysis of the raw inertial signal in a dynamic environment. These include a spectral technique for dither spike removal and a class of low-pass finite-impulse-response (FIR) filters operating in forward/backward manner for achieving zero phase distortion. The orientation performance of the entire system with different filters is evaluated by comparing it to the "true" attitude information provided by a photogrammetric block adjustment. Results show clearly that the choice of an appropriate filter is decisive for attitude accuracy.

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  • Corporate Authors:

    American Society for Photogrammetry and Remote Sensing

    5410 Grosvenor Lane, Suite 210
    Bethesda, MD  United States  20814-2160
  • Authors:
    • Skaloud, J
    • Schwarz, K-P
  • Publication Date: 2000-4


  • English

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Filing Info

  • Accession Number: 00792578
  • Record Type: Publication
  • Files: TRIS
  • Created Date: May 11 2000 12:00AM