Abstract
The article considers a problem of SINS/SNS integration based on loosely coupled integration scheme using extended Kalman filter. Full stochastic models of MEMS inertial sensor measurements were used. The performance of extended Kalman filter is evaluated using real measurements of MEMS-SINS and dual antenna SNS receiver. The results of estimating the drifts of gyroscopes and accelerometers are presented. The position accuracy of the system for different periods of SNS signal outages is also evaluated
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