Mathematical Analysis of the Geodetic Space—Stabilized INS

  • Bernd Eissfeller
Conference paper
Part of the International Association of Geodesy Symposia book series (IAG SYMPOSIA, volume 107)


The topic of this paper is the analysis of the space-stabilized geodetic INS Honeywell GEO-SPIN II and its integration with GPS in a Kalman filter. The basic concept of analysis is a rigorous physical description of the inertial sensors and the platform.The analysis results in error models of the ESG gyros, of the platform servo-loops and the fluid-filled pendulous accelerometers. The anomalous gravity field is modeled by a five state shaping-filter based on a 2nd order Gauss-Marcov process for the disturbing potential. In comparison to the existing error rgodel of the GEO-SPIN II a large cross-coupling term and a g2-drift of the gyros are introduced. The platform servo-loop errors consider a mass unbalance of the inner element, friction of the bearings, and the damping of the motors. The error model of the accelerometers is extended by a scalefactor asymmetry, a cubic scalefactor error and a cross-coupling term. After introducing the main system errors, the navigational errors and the GPS-biases a 31 states Kalman filter is derived.


Error Model Inertial Navigation System Gravity Disturbance Disturbing Potential Scale Factor Error 
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Copyright information

© Springer-Verlag New York Inc. 1991

Authors and Affiliations

  • Bernd Eissfeller
    • 1
  1. 1.Kayser-Threde GmbHMünchen 70Germany

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