Reliability Analysis of the Kalman Filter for INS/GPS Integrated Navigation System Applied to Train

This paper aims to analyse the navigation performance that can be provided by the navigation system when applying the INS/GPS integrated navigation system to the train. The performance of the Kalman filter integrating INS and GPS can be summarized by the integrity of the measurement and the observability of the filter. Assuming the integrity of the GPS information used as a measurement is always satisfied, the performance of the filter can eventually be analysed by the observability. The observability of the filter depends on the dynamic trajectory of the train. Because the train has a non-holonomic constraint and onedimensional motion, the filter design and the performance analysis are carried out considering this. We analyse the observability of the filter through simulation and explain the limit of the filter and the flaw of the observability. We also analyse the reliability of the navigation system and present additional research directions.