ANALYSIS OF THE NOISE PARAMETERS AND ATTITUDE ALIGNMENT ACCURACY OF INS CONDUCTED WITH THE USE OF MEMS - BASED INTEGRATED NAVIGATION SYSTEM

Nowadays, along with the advancement of technology, the dynamic development of miniaturization in electronics can be noticed. Currently produced micro gyroscopes, accelerometers, magnetometers and GPS receivers have accuracy performance impossible to achieve few years ago. Thanks to this development, it is possible to build mobile integrated navigation systems based on satellite (GNSS) and inertial observations (IMU). Such method of navigation consists of several steps. The first stage is the determination of initial orientation of inertial measurement unit, called INS alignment. During this process, on the basis of acceleration and the angular velocity readings, values of Euler angles (pitch, roll, yaw) are calculated allowing for unambiguous orientation of the sensor coordinate system relative to external coordinate system. The following study presents the tests of accuracy of alignment conducted with the use of self - build GPS/INS integrated system.