GPS-INS Integrated Navigation System - Principles and Code Implementation

GPS-INS integrated navigation is a high-precision positioning technology that combines the Global Positioning System (GPS) with an Inertial Navigation System (INS). GPS provides absolute position information but may fail during signal occlusion or interference, while INS measures motion states through accelerometers and gyroscopes without relying on external signals, albeit with accumulated errors. The complementary advantages of both systems enable the integrated navigation system to maintain high positioning accuracy in complex environments.

Authored by Chen Jun in its 2nd edition, this book not only introduces the fundamental principles of GPS and inertial navigation but also provides in-depth exploration of key technologies such as Kalman filtering and sensor fusion. The accompanying program source code offers practical implementation examples, facilitating understanding and optimization of integrated navigation algorithms. The code typically demonstrates sensor data fusion using extended Kalman filters (EKF) or unscented Kalman filters (UKF), with algorithms handling state prediction based on IMU data and measurement updates using GPS coordinates. These implementations often include functions for coordinate transformation, error compensation, and real-time trajectory calculation. This technology plays a crucial role in autonomous driving, UAV flight operations, and military navigation applications.