Multiple model carrier phase DGPS/INS for automotive applications

This paper proposes a multiple model carrier phase differential Global Positioning System (DGPS) aided inertial navigation system (INS) scheme. The most important feature of this approach for the integrated navigation system design is the optimal combination of different system/sensor error models. It is demonstrated that the resulting multiple model integrated navigation approach has a much better performance than known single model integrated navigation schemes. The methodology introduced provides the new insight required for the development of future automotive navigation system