GPS/INS Integration for Vehicle Navigation based on INS Error Analysis in Kalman Filtering

Sigma-Point Kalman Filtering for Tightly Coupled GPS/INS Integration

ABSTRACT This paper describes the design and implementation of a tightly coupled integration of the Global Positioning System (GPS) and Inertial Navigation System (INS) based on the sigma-point Kalman filtering (SPKF) method. The SPKF uses a set of sigma points to completely capture the first and second order moments of the apriori random variable. In contrast to extended Kalman filtering (EKF)...

Enhanced INS/Wi-Fi Integration for Indoor Vehicle Navigation

For low-cost and continuous indoor navigation, an INS/Wi-Fi (inertial navigation system/Wi-Fi) integrated system is expected to yield a synergetic effect resulting in higher navigation performance than using the standalone systems. In this paper, the authors explore the integration of Wi-Fi measurements with data from microelectromechanical systems based inertial measurement unit for indoor veh...

A Kalman filtering approach for Integrating MEMS-based INS and GPS for land vehicle applications

Global Positioning System (GPS) and Inertial Navigation Systems (INS) are used for positioning and attitude determination in a wide range of applications. Since the usage of high performance INS is limited by its high cost, for general application areas low-cost INS units are used. Over the last few years, a number of low-cost inertial sensors have become available. However, these low cost sens...

Covariance matching based adaptive unscented Kalman filter for direct filtering in INS/GNSS integration

The use of the direct filtering approach for INS/GNSS integrated navigation introduces nonlinearity into the system state equation. As the unscented Kalman filter (UKF) is a promising method for nonlinear problems, an obvious solution is to incorporate the UKF concept in the direct filtering approach to address the nonlinearity involved in INS/GNSS integrated navigation. However, the performanc...

Low-cost tightly coupled GPS/INS integration based on a nonlinear Kalman filtering design

This paper describes the design of a tightly coupled GPS/INS integration system based on nonlinear Kalman filtering methods. The traditional methods include linearization of the system around a nominal trajectory, and the extended Kalman filtering (EKF) method which linearizes the system around the previous estimate, or the predication, whichever is available. The recently proposed sigma-point ...

Interval Kalman filtering applied to uninhabited surface vehicle navigation