Three simple, direct methods for decoupling the interrelated channel outputs in an ultra-tightly coupled GPS/IMU system are proposed. These methods, based on conditioning, are not as computationally expensive as methods such as multiple model matching, and also take advantage of the high precision of carrier phase measurements and the presence of the IMU.The commercial potential for this technology includes both military and commercial aircraft. Military programs such as JPALS, along with similar civil aviation programs, are expected to be potential customers.
Keywords: Ultra Tight Gps Imu Coupling, Integrity Monitoring And Raim, Conditioning, Conditional Expectation, Decoupling, Martingale, Regression Diagnosti
