Abstract
In this paper we present a method of land-vehicle integrated INS/GPS system based on nonlinear filtering techniques and show experimental results of using the actual GPS and INS data. Closed-loop mechanization is adopted for our navigation system by integrating Inertial Navigation System (INS) and the code-based transfer Differential GPS (DGPS) which gives the position (latitude, longitude) and the Doppler velocity. Our present purpose in this paper is to integrate the advantages of these systems and to develop the integrated INS/GPS navigation system.
