Study and Implementation on Compensation of Step Jump Errors and Integrated Filter in the INS/GPS System

The pure navigation system using Inertial Navigation Unit(INU) which has very accurate short term stabilities but not long term gives rise to position errors propotional to time. On the contrary, Global Positioning System(GPS) which is bounded its errors to some fixed ranges shows higher accuracy in the long term, and lower accuracy in the short term than that of INS. Recently the integration of these two systems is one of the main topic in the field of navigation system. In this thesis, the implementation of kalman filter on the real time navigation computer and step jump error compensation method is suggested.