Hybrid Positioning Technique Based Integration of GPS/INS for an Autonomous Vehicle Navigation

This paper presents a hybrid positioning technique combining both loosely and tightly coupled Kalman Filter (KF) algorithms for an autonomous multi-wheeled combat vehicle. The developed algorithm is able to provide accurate information even if number of visible satellites falls below the minimum due harsh operation environments. Two modes were considered which automatically switch between them according in order correct INS drift. Furthermore, performance comparison fifteen eighteen KFs states conducted. A simulation performed, using SATNAV navigation toolbox collected data from real sensors mounted on ground experimental results validated effectiveness algorithm.