Implementation of a Navigation System Based on the Integration of Inertial Navigation System/Positioning System

The objective of this paper is to integrate the inertial navigation system (INS) and positioning system for determining the position, velocity, and attitude of a moving object. In this paper, the Kalman filter is used for sensor fusion. In the experiments, the sensor fusion algorithm is implemented through a digital signal processor (DSP). To assess the performance of the algorithm, a linear slide with a magnetic linear scale and a three-axis rotational calibration platform are used in the restricted-range movement. The results of experiments show that this developed system can achieve an update rate of 800 Hz and compensate the latency of the positioning system. Furthermore, the sensor fusion algorithm can provide accurate three-axis position, three-axis velocity, roll angle, and pitch angle. However, there is noticeable drifting in the yaw angle.