Loosely Coupled GPS/INS Enhancement for Land Navigation using Adaptive Kalman Filter

Abstract— The relatively high cost of inertial navigation systems (INSs) has been preventing their integration with global positioning systems (GPSs) for land-vehicle applications. Inertial sensors based on microelectromechanical system (MEMS) technology have recently become commercially available at lower costs. These relatively lower cost inertial sensors have the potential to allow the development of an affordable GPS-aided INS (INS/GPS) vehicular navigation system [1]The paper investigates approaches for loosely coupled GPS/INS integration. We have used INS simulator instant SINS hardware. The principle of an INS simulator is an inverse process of INS mechanization. Adaptive Kalman filtering techniques use the residual sequences to adapt the stochastic properties of the filter on line to correspond to the temporal dependence of the errors involved [3]. Knowledge of the process noise covariance matrix Q is essential for the application of Kalman filtering. However, it is usually a difficult task to obtain an explicit expression of Q for large time varying systems. This paper looks at an adaptive Kalman filter method for INS/GPS integration [2].

کلیدواژه ها:

GPS ، INS ، GPS/INS ، Adaptive ، Kalman filter ، Navigation