Integrating GNSS/INS/PVT for robust positioning
Abstract
The thesis objective was to get a better insight in theories behind global navigation satel-lite systems, inertial navigation systems and the two integrated. Current technology usedto realize such system was also investigated.The development process started by specifying the requirements, designing and imple-menting a solution.The project resultet in a Navigation Module for INS with GNSS multi-antenna systemand a Kalman filter for estimating position, velocity, attitude and IMU biases.Some of the findings were that a loosely coupled Kalman filter has great advantages com-pared to a uncoupled filter and is good at estimating filter states through short GNSSoutages.The conclusion of the results found in the experiment is that designing a Kalman filterthat performes well compared to established systems is achievable. The thesis lead to ahardware and software module that performed as intended.For future work an expansion of the filter can be done. Also, other coupling schemes canbe investigated further and implemented.