Positioning Error Characteristics of GPS/INS Integrated Navigation under Different Number of Visible Satellites

Number of visible satellites and mask angle of the GPS satellites are two major factors to influence positioning error characteristics of GPS/INS integrated navigation. For GPS signals, there are shading effects in urban canyons and forest environments. Based on the positioning error characteristics of GPS/INS integrated navigation model, with the different number of the visible satellites under the influence of mask angle, the simulation of positioning error RMS with different number of the visible satellites is provided. At the same time, the characteristics of the simulation results are analyzed in detail. Some theoretical references for the influence of mask angle to the GPS/INS integrated navigation performance are provided.