Study on adaptive GPS/INS integrated navigation system

A GPS/INS integrated navigation system based on the theory of multi-sensor data fusion is presented in this paper. Error models for the inertial measurement unit are generated and included in the extended Kalman filter for INS. An improved decentralized Kalman filter is developed to eliminate obvious error of GPS data and reduce the load of calculation. An adaptive federal Kalman filter is used to fuse the data from GPS and INS to provide smoothed and continuous positioning data against the presence of GPS blockages or communication dropouts and the unbounded INS errors growing with time. The results demonstrate that the performance of the adaptive GPS/INS integrated navigation system is better than that of using only GPS of INS.