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GPS/INS integration for GF-IMU of twelve mono-axial accelerometers configurations

In this paper we present an integration scheme and performance analysis for the integration of a gyro-free inertial measurement unit (GF-IMU) with a GPS receiver. The GF-IMU is composed of twelve separate mono-axial accelerometers. Using such a GF-IMU produces a vector, which we call the angular information vector that consists of 3D angular acceleration terms and six quadratic terms of angular velocities. Traditional GPS/INS integration using error state space model has been modified to fit this special IMU. Simulation results are presented.