This paper presents a novel, real-time, positioning algorithm for
integrating GPS and INS in plane motion. The proposed method not only
deals with GPS lost positioning, but also positions the location of the
vehicle at least ten times per second. Where the INS only adopts one
two-axis accelerometer and its drift error is compensated by GPS.In general, the three cases of GPS lost positioning are (1) while the
GPS positioning report rate is only 1 Hz, in the interval of one second
between neighboring reports and there being no positioning output; (2) GPS
could not position itself following one minute after supplying power; (3) a huge building could shadow the GPS satellite signal in the city, such as
when the GPS loses positioning. This paper proposes the integration
algorithms of GPS/INS where (a) the GPS provided the last known location
of vehicle; (b) INS uses (a) and itself measuring the acceleration to ascertain the current location. The function of INS can increase the positioning report rate by up to 10Hz; (c) GPS will correct the INS positioning once each second to reduce the drift of the INS positioning.