Research and Application of a Kalman Smoother Based on INS/GPS Integrated Navigation

A positioning algorithm based on a Kalman smoother is proposed, and the performance of the INS/GPS integrated navigation system is improved. In this paper, the error sources of inertial navigation system (INS) and Global Positioning System (GPS) are analyzed respectively, and then the error state models are set up. Furthermore, the INS/GPS integrated navigation system based on the information of GPS and INS is modeled and simulated, and the algorithm using the KF and the Rauch-Tung-smoother (RTS) filtering is compared. The numerical emulation demonstrates that the RTS filtering can greatly enhance the robustness and reliability of integrated navigation system. The system has obvious advantages of high accuracy.