High precision navigation integrating satellite information -GPS- and inertial system dat

In this thesis I present the work that I developed in the subjects of GPS (Global Positioning System) high precision positioning and the benefits of its integration with an IMU (Inertial Measurement Unit). The main focus ofthis thesis is on GPS processing algorithms for quasi-instantaneous carrier phase ambiguity resolution, for real-time high accuracy positioning of a kinematic mode GPS receiver. Also described are the developed algorithms for vehicle attitude determination based on the vector between two GPS antennas mounted on the vehicle. The implementation of this methodology on a GPS/IMU navigation system, and the obtained results, are also shown. An analysis of the benefits that GPS processing could gain from the integration of IMU data is also presented.;This work has been developed in the scope of the Portuguese project SNAP (Sistema de Navegacao Aerea de Precislio e Longo Alcance). It consisted on the development of a GPS/IMU based navigation system and its actual implementation on a Portuguese Air Force aircraft. This developed system, oriented for real-time navigation, was mounted on a CASA212 and some flight tests were performed in order to evaluate the navigation system's performance. Most of the examples shown in this thesis are from real-time data retrieved from these tests.;I would like to thank the Portuguese Foundation for Science and Technology (Fundacao para a Ciencia e a Tecnologia) for having financed both the SNAP p_roject (ref PRAXIS/3/3.1/CTAE/1933/95) and the development of this thesis' subject (ref PRAXIS/414.1/BD/3475).;This work was developed at the Astronomical Observatory of the Faculty of Science of the University of Porto (OAUP), being the Ph.D. degree conceded by the ˙Faculty of Engineering of the University of Porto (FEUP). It was oriented by Professor Maria Luisa Cerqueira Bastos at the OAUP, and by Professor Jorge Leite Martins de Carvalho at the FEUP, to whom I thank for their dedication. I would like to thank the other SNAP team members (Sergio Reis Cunha and Phillip Tome) for their commitment and dedication to this project. I would like to present a special appreciation to Sergio Cunha, my brother, for the several discussions we have had on the subjects of this thesis. I thank all those that supported me, with a special mention to my wife Teresa, my brothers and my parents, to whom I dedicate this thesis.