Abstract:
This paper demonstrates the importance of the INS/GPS/GLONASS integration into ballistic
navigation solution. The SINS uses (ENU) frame and the integrated system uses position and velocity
as measurements. The system model of the integrated system for Kalman filtering are derived and
modeled as 27-states. This state estimation system shown clearly the application of fundamental
modeling and filtering techniques. The simulation is built on the integrated system
INS/GPS/GLONASS and the trajectory generator data. From the results we found that parameters of
estimated gyro errors such as vertical and east gyro drifts, and also estimated east accelerometer bias
are not observables.