Land-vehicle navigation using multiple model carrier phase DGPS/INS

This paper proposes a multiple model carrier phase differential Global Positioning System (DGPS) aided Inertial Navigation System (INS) scheme for land-vehicle application. The most important feature of this approach for integrated navigation system design is the optimal combination of different uncertain system parameters. The uncertain parameters can include elements of the state transition matrix, observation matrix, process noise covariance matrix, and measurement noise covariance. Simulations prove that the resulting multiple model integrated navigation approach has an improved performance than known single model integrated navigation schemes