Аннотация
Global Navigation Satellite Systems (GNSS) have become common in the modern day navigation, although they fail when there is deliberate jamming, spoofing or blocking of the signal in urban and indoor settings. In this regard, GNSS in combination with fiber-optic gyroscopes (FOG) has been proposed as a viable means to improve the strength of navigation. A mathematical model and simulation of GNSS + FOG integration through a Kalman filter is provided in this paper. Sagnac phase shift is studied, FOG error models are obtained and a fusion algorithm is applied to sustain navigation accuracy in case of an interim GPS failure. The output of the simulations demonstrates that GNSS + FOG applies much less position error than either GNSS alone or FOG, particularly within 10-60 s of lost GPS signal. The suggested design illustrates possible uses of unmanned aerial vehicles, watercraft, and airships of the stratospheric level.