Gyroscopy and Navigation

, Volume 5, Issue 4, pp 205–212 | Cite as

Attitude determination by INS/GNSS system aided by phase and magnetometer measurements for spinning vehicles

  • G. I. Emel’yantsev
  • A. P. Stepanov
  • B. A. Blazhnov


The paper considers attitude determination for a vehicle spinning about longitudinal axis by an integrated orientation and navigation system (IONS) comprising MEMS IMU and GNSS receiver.

Attitude determination is aided by magnetometer data or phase measurements from closely spaced GNSS receiving antennas. IONS algorithms and errors in attitude determination are analyzed. The paper analyzes the methods to enhance the accuracy of attitude determination and estimation of scale factor errors of gyros and accelerometers with the sensitivity axes aligned with the longitudinal axis.

The system experimental sample uses IMU based on STIM300 Sensonor MEMS sensors (Norway), magnetometers and phase measurements of 1K-181 GNSS receivers by the Russian Institute of Radionavigation and Time. The results obtained in bench tests are presented.


GNSS Phase Measurement Inertial Navigation System Attitude Determination Strapdown Inertial Navigation System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Pleiades Publishing, Ltd. 2014

Authors and Affiliations

  • G. I. Emel’yantsev
    • 1
    • 2
  • A. P. Stepanov
    • 1
    • 2
  • B. A. Blazhnov
    • 1
  1. 1.Concern CSRI ElektropriborJSCSt. PetersburgRussia
  2. 2.St. Petersburg International University of Information Technologies, Mechanics, and OpticsSt. PetersburgRussia

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