Development, implementation, and testing of a tightly coupled integrated INS/GPS system

Öztürk, Alper


Comparison of EKF, EKF2 and UKF in a loosely coupled INS/GPS integration
Jane, Hande; Baykal, Buyurman; Department of Electrical and Electronics Engineering (2018)
Developing effective navigation solutions in land, sea, air, and space travels is an ever increasing necessity maintaining its validity. Nowadays, although a navigation aid called satellite based Global Positioning System (GPS) is used to develop a navigation solution, standalone GPS cannot achieve the desired accuracy in some applications. For this reason, GPS measurements are integrated with the Inertial Navigation System (INS) to develop an enhanced accurate integrated navigation solution. Extended Kalma...
A system theoretical approach to aided inertial navigation
Koyaz, Ayşe Pınar; Ünver, Zafer; Özkazanç, Yakup; Department of Electrical and Electronics Engineering (2003)
Investigation of the star tracker algorithms and kalman filter integration
Sargın Güçlü, Selva; Yavrucuk, İlkay; Department of Aerospace Engineering (2019)
This research outlines the investigation of star tracker algorithms and Kalman Filter implementation of star tracker aided INS. In the first chapter, the usage areas of the star tracker sensor was investigated. The purposes to use this sensor were also included. Furthermore, the sensor architecture and algorithms were examined. In the second chapter, the three main steps of the star tracker algorithms were investigated. First of all, literature survey about centroiding algorithms was done and two of them we...
Vision-based Navigation and System Identification of Underwater Survey Vehicle
Kartal, Seda Karadeniz; Leblebicioğlu, Mehmet Kemal; Ege, Emre (2015-05-19)
In this study, a nonlinear mathematical model for an unmanned underwater survey vehicle is obtained. The inertial navigation system and vision-based measurement systems are modelled. The magnetic compass, depth sensor and pitot tube are used in order to support vehicle's attitude, velocity and depth information. The state errors are estimated with error state estimation algorithm from the noisy measurement data. The navigational data of the vehicle can be obtained accurately using the extended Kalman filter...
An adaptive unscented kalman filter for tightly-coupled INS/GPS integration
Akça, Tamer; Demirekler, Mübeccel; Department of Electrical and Electronics Engineering (2012)
In order to overcome the various disadvantages of standalone INS and GPS, these systems are integrated using nonlinear estimation techniques and benefits of the two complementary systems are obtained at the same time. The standard and most widely used estimation algorithm in the INS/GPS integrated systems is Extended Kalman Filter (EKF). Linearization step involved in the EKF algorithm can lead to second order errors in the mean and covariance of the state estimate. Another nonlinear estimator, Unscented Ka...
Citation Formats
A. Öztürk, “Development, implementation, and testing of a tightly coupled integrated INS/GPS system,” M.S. - Master of Science, Middle East Technical University, 2003.