Nonlinear Filtering Method in INS/GPS/VMS In-Motion Alignment

Abstract

In this paper, we present a method of land-vehicle In-Motion Alignment based on nonlinear filtering techniques by integrating Inertial Navigation System (INS), the code-based transfer Differential GPS (DGPS) and Vehicle Motion Sensor (VMS). Our aim is to integrate the advantage of these systems and to develop the navigation system that does not require initial attitude information of the vehicle.