# Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration

^{*}

## Abstract

**:**

## 1. Introduction

## 2. Construction of Baseband Signal Preprocessing Model Based on Dual-filter Structure

## 3. Realization of the Specific Ultra-tight GPS/INS Integration

## 4. Results and Discussion

#### 4.1. Static Field Test

#### 4.2. Semi-Physical Simulation Based on Telemetered Missile Trajectory

## 5. Conclusions

## Acknowledgments

## Author Contributions

## Conflicts of Interest

## Appendix A

## Appendix B

## References

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Satellite | $C/{N}_{0}$(dB$\xb7$Hz) | Satellite | $C/{N}_{0}$(dB$\mathsf{\cdot}$Hz) |
---|---|---|---|

PRN22 | 48.881 | PRN14 | 45.612 |

PRN31 | 48.025 | PRN32 | 45.693 |

PRN25 | 45.987 | PRN12 | 45.202 |

PRN18 | 48.086 |

Method | RMS of Position Error (m) | ||
---|---|---|---|

$X$ | $Y$ | $Z$ | |

Pre-filter-S | 0.359 | 0.585 | 0.519 |

Pre-filter-D | 0.171 | 0.367 | 0.315 |

Method | RMS of Velocity Error (m/s) | ||
---|---|---|---|

$X$ | $Y$ | $Z$ | |

Pre-filter-S | 0.044 | 0.085 | 0.072 |

Pre-filter-D | 0.026 | 0.036 | 0.036 |

Gyros | Accelerometers | |
---|---|---|

In-Run Bias Error | 0.5$\xb0/\mathrm{h}$ | 2$\text{}\times {10}^{-4}$g |

Noise (1$\mathsf{\sigma}$, smoothing window: 10 ms) | 15$\xb0/\mathrm{h}$ | 2$\text{}\times {10}^{-2}$g |

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## Share and Cite

**MDPI and ACS Style**

Zhang, X.; Miao, L.; Shao, H.
Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration. *Sensors* **2016**, *16*, 627.
https://doi.org/10.3390/s16050627

**AMA Style**

Zhang X, Miao L, Shao H.
Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration. *Sensors*. 2016; 16(5):627.
https://doi.org/10.3390/s16050627

**Chicago/Turabian Style**

Zhang, Xi, Lingjuan Miao, and Haijun Shao.
2016. "Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration" *Sensors* 16, no. 5: 627.
https://doi.org/10.3390/s16050627