Non-gyroscope DR and adaptive information fusion algorithm used in GPS/DR device

In view of the problems existing in GPS, a non-gyroscope DR is introduced. The operating principle and the algorithm of the GPS/DR device are also presented. By operating measured data synthetically, linear observation equations are obtained for the information fusion algorithm. This approach avoids model error due to linearizing nonlinear observation equations in the conventional algorithm, so that the stability of information fusion algorithm is improved and computation expenses are reduced. Field running experiments show that satisfactory accuracy can be obtained by the proposed navigation model and algorithm for the non-gyroscope GPS/DR device.