Strapdown Inertial Navigation System and GPS Integrated Navigation with Kalman Filter

The integration of Strapdown Inertial Navigation System (SINS) with GPS through Kalman filtering, commonly referred to as SINS/GPS integrated navigation system, has gained significant traction in recent years. This system achieves enhanced accuracy and reliability through sensor fusion algorithms, making it widely applicable in aviation, marine, and land navigation domains. The Kalman filter implementation typically involves state prediction using inertial measurements and measurement updates from GPS data.

In aviation applications, both commercial and military aircraft utilize this system for precise positioning and improved navigation safety. The implementation often includes 15-state or 18-state Kalman filter models that process accelerometer and gyroscope data from inertial measurement units (IMUs) while integrating GPS position and velocity measurements. For marine navigation, the system enables large vessel navigation through narrow waterways and provides accurate positioning for offshore oil rigs, typically incorporating adaptive Kalman filtering techniques to handle GPS signal interruptions.

In land-based applications, the system is extensively used in surveying and geomatics for mapping and construction projects, where extended Kalman filter (EKF) implementations help maintain accuracy during GPS-denied environments. Current research focuses on applying this technology to Unmanned Aerial Vehicles (UAVs), where quaternion-based attitude estimation and multi-sensor fusion algorithms significantly enhance autonomous navigation capabilities. The system's robustness makes it ideal for various autonomous navigation applications, with common implementations featuring real-time data synchronization between IMU and GPS sensors using timestamp alignment and buffer management techniques.