Further Study on Nonlinear Filters for GPS/INS Integrated Systems

Abstract

In this paper, we apply nonlinear filtering methods: the Unscented Kalman Filter (UKF) [1] and the Central Difference Kalman Filter (CDKF) [2, 3] to land-vehicle GPS(Global Positioning System)/INS(Inertial Navigation System) integrated navigation systems [4] as well as the In-Motion Alignment systems. Then we show the experimental results of INS/GPS integrated System by using simulated data with assuming the various error sources such as the errors of GPS measurement, INS sensors and various running trajectories.