We examine two aspects specific to data fusion of strapdown inertial navigation systems (SINS) aided by global navigation satellite systems (GNSS), with their inherent spatial separation between the GNSS antenna phase center and the inertial measurement unit, as well as with SINS/GNSS synchronization errors. The first aspect refers to modifying the mathematical models used in INS/GNSS integration. The second one relates to our experience in their application in onboard airborne navigation algorithms developed by the Moscow Institute of Electromechanics and Automatics.
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Vavilova et al. (2021) studied this question.
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