Figure 97: Example Of Complementary Navigation Sensor Blending - Applanix POS MV V5 Installation And Operation Manual

4. Having obtained this estimate of the INS position error, the system then subtracts it from the INS
computed position. This delivers a blended solution with the long-term INS position error and the
DGNSS short-term noise removed. The only remaining error is the constant position offset from
the DGNSS that has passed through the filter.
The blended position solution now has the best characteristics of both the INS and the DGNSS; the
position solution is smoothed like the INS solution, and has a bounded error that is less than or equal to
the DGNSS solution.
In-Motion Alignment
The paragraphs contained under the Alignment topic on page B-26 describe how an inertial navigation
platform achieves alignment under static conditions. An important feature that the integration of inertial
navigation and GNSS offers is in-motion alignment of the inertial navigator.
Copyright © Applanix Corporation, 2017
POS MV V5 Installation and Operation Guide
1 M
nmi
INS position error
INS position error
2 m
20 m
Blended North position
Blended North position error
error

Figure 97: Example of Complementary Navigation Sensor Blending

2 m
DGPS
INS
GPS position error
-
+
1 M
1 nmi
INS - GPS position
INS- difference
Low - pass
filter
1 M
1 nmi
+
-
Filtered INS - GPS
Filtered INS
-
position difference
Theory
of Operation
B-31