Aerospace Instrument-Making Annotation << Back LOOSE COUPLING OF INERTIAL AND SATELLITE NAVIGATION MEASUREMENTS USING MULTI-ANTENNA GNSS RECEIVERS N.N. Vasilyuk The algorithm of inertial and GNSS measurements coupling according to the «loose coupling» approach using an extended Kalman filter is proposed. GNSS attitude measurements are presented in the form of pairs of angular coordinates (azimuth angle and elevation angle) of vectors of nonzero length. All vectors have a common origin in the phase center of one antenna. The tails of the vectors are in the phase centers of the remaining antennas. The coupling filter allows a variable composition and dimension of the observation vector, which facilitates the selection of pairs of measured angular coordinates in difficult GNSS signals propagation conditions. The design of the navigation system’s prototype is described and the results of experimental testing of the proposed algorithm are presented. Keywords: inertial-GNSS system, multiantenna GNSS receiver, GNSS compass, extended Kalman filter, attitude measurements. DOI: 10.25791/aviakosmos.01.2020.1137 Contacts: - Pp. 26-39.