Integrating the correlator measurements, I (in-phase) and Q (quadrature), with position, velocity and attitude from INS in a Kalman filter characterizes the ultra-tight GPS/INS integrated system.
The smooth functioning of the integration Kalman filter is vital to the performance of an ultra-tight integration system, as the integration filter not only provides error estimates of the inertial sensor measurements but also provides a Doppler feedback to the receiver tracking loops to mitigate dynamics on GPS signals.
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