Design of Adaptive Kalman filter algorithm in integrated navigation system for land vehicles

Micro inertial navigation system which is based on MEMS (Micro electrical mechanical systems) technology are integrated with other navigation systems (Satellites Navigation systems, Celestial Navigation system) to form integrated navigation systems because of low accuracy. Dynamic noise statistical properties of land vehicles changed with the vehicle motion characteristic continuously, because the land vehicle is affected by wind power and other wicked environments. Adaptive Kalman filter (AKF) is introduced for the sake of improving navigation system´s accuracy in land vehicles. This paper designed a new algorithm based on AKF to enhance the integrated navigation accuracy. Theoretical analysis and induction process are carried out. Computer simulation and practical experiment results demonstrate that the AKF algorithm has higher navigation accuracy than Classical Kalman Filter (CKF). These results also show the algorithm in this paper can realize the navigation for land vehicle effectively.