Interactions among the components of integrated navigation systems are classified as supplementary, complementary, bias parameter estimation, and random error smoothing. The design of an integrated system involves identifying, specifying, and implementing the interactions between components that are necessary to meet the system requirements. The design of the Bedford Institute of Oceanography Integrated Navigation System (BIONAV) is used to illustrate these principles. The specific interactions between the basic components of BIONAV (Transit Doppler satellite positioning, pseudoranging Loran#x2010;C, ship's speed log, and gyrocompass) are described in detail. Recent extensions to these systems and interactions are also noted.
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