IMM filter for GPS aided INS in the AUV application

The inertial navigation system (INS) is usually employed to determine the position of an autonomous underwater vehicle (AUV). The accuracy of the position provided by the INS, which employs accelerometers and gyroscopes, deteriorates with time and as a result an external aiding sources such as the global positioning system (GPS) can be employed to reduce the error growth in the INS. The GPS aided INS system provides enhance positioning accuracy of the AUV compared to that of a stand-alone INS technique. This paper presents the interacting multiple model (IMM) estimator to process the GPS and the INS data for an AUV application