NTRS - NASA Technical Reports Server

As of October 27, 2023, NASA STI Services will no longer have an embargo for accepted manuscripts. For more information visit NTRS News.

Back to Results
A Short Tutorial on Inertial Navigation System and Global Positioning System IntegrationThe purpose of this document is to describe a simple method of integrating Inertial Navigation System (INS) information with Global Positioning System (GPS) information for an improved estimate of vehicle attitude and position. A simple two dimensional (2D) case is considered. The attitude estimates are derived from sensor data and used in the estimation of vehicle position and velocity through dead reckoning within the INS. The INS estimates are updated with GPS estimates using a Kalman filter. This tutorial is intended for the novice user with a focus on bringing the reader from raw sensor measurements to an integrated position and attitude estimate. An application is given using a remotely controlled ground vehicle operating in assumed 2D environment. The theory is developed first followed by an illustrative example.
Document ID
Document Type
Technical Memorandum (TM)
Smalling, Kyle M.
(Northrop Grumman Corp. Hampton, VA, United States)
Eure, Kenneth W.
(NASA Langley Research Center Hampton, VA, United States)
Date Acquired
October 8, 2015
Publication Date
September 1, 2015
Subject Category
Aircraft Communications And Navigation
Report/Patent Number
Funding Number(s)
WBS: WBS 999182.
Distribution Limits
Public Use Permitted.
No Preview Available