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As an application of SDINS/GPS integration for its synergistic results, the SDINS alignments utilizing GPS carrier phase rate measurements. A measurement model of GPS carrier phase rate is derived in order to be used with SDINS alignment process. For in-flight alignment, the performance of the suggested SDINS/GPS integration method is analyzed using the covariance analysis and its results are confirmed by those of van test. Consequently, it is shown that all states of the SDINS integrated system by utilizing GPS carrier phase rate measurements can be estimated more efficiently than a general SDINS/GPS during in-flight alignmentᬊ吀Ѐ㘷〻ഀ䵡湵晡捴畲楮最

Study on SDINS/GPS Kalman Filter using GPS carrier phase rate measurements