Abstract
In this paper, we present a practical algorithm of land-vehicle integrated INS/GPS system based on Quasi-Linear optimal filtering and show the simulation results by utilizing the Matlab6.5 and INS Toolbox (GPSoft LLC.). Closed-loop mechanization is adopted for our navigation system by integrating Inertial Navigation System (INS) and the code-based Differential GPS (DGPS) which gives the position (latitude, longitude) and velocity. Also, we present which filtering method can achieve good performance by comparative experiments based on Quasi-Linear optimal filtering and Monte Carlo filtering.
