A New Error Compensation Scheme For INS Vertical Channel

Abstract

In the inertial navigation system, the altitude error diverges exponentially if external sensors do not compensate it. To suppress divergence of the error, non-inertial aiding sensors that provide vertical information are utilized. With these sensors, the wellknown baro-inertial damping loop or the well-known Kalman filter mechanization can be constituted to compensate the error of the vertical channel. In this paper, a new error compensation scheme for INS vertical channel is proposed, especially with a barometer and GPS by fusing the two well established methods. The performance of the proposed scheme is analyzed by computer simulation.