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GPS attitude outputs or carrier phase observables can be effectively utilized to compensate the attitude error of the strapdown inertial navigation system. However, when the integer ambiguity is not correctly resolved and/or a cycle slip occurs, an erroneous GPS output can be obtained. If the erroneous GPS output is applied to the attitude determination GPS/INS (ADGPS/INS) integrated navigation system, the performance of the system can be degraded. This paper proposes an ADGPS/INS integration system using the triple difference carrier phase observables. The proposed integration system contains a cycle slip detection algorithm, in which the inertial information is combined. Computer simulations and flight test were performed to verify effectiveness of the proposed navigation system. Results show that the proposed system gives an accurate and reliable navigation solution even when the integer ambiguity is not correctly resolved and the cycle slip occurs.

Attitude Determination GPS/INS Integration System Design Using Triple Difference Technique