Vector-tracking algorithm for deeply integrated GPS/MIMU

A filter algorithm of GPS/MIMU (global positioning system/miniature inertial measurement unit) deeply integrated navigation was researched. The carrier delay time with INS information was calculated to obtain an intermediate frequency signal model. The relationships among code phase, carrier frequency, pseudorange and pseudorange rate were calculated. A pre-filter dynamic model was built. The main navigation filter was founded and vector tracking loop was finished by using the INS state information and measure information. The simulation results show that the vector tracking algorithm based on GPS/MIMU can increase the signal power of in-phase prompt branch and reduce initial carrier phase error and code phase error, so the accuracy of carrier phase and code phase are improved; when carrier-to-noise power density ratio decrease to 26 dB·Hz, vector tracking loop can track 0.14 chip code phase and 0.15 rad carrier phase more than scalar loop and altitude of in-phase prompt branch is also increased by 2~3 times.