Enhanced MEMS-INS/GPS Integrated System

This paper demonstrates an adaptive fusion filter for MEMS-INS/GPS integrated system. Motivated by the complementary features of the IIR-type filter and the FIR-type filter, this paper proposes a robust and adaptive IIR/FIR fusion filter and a MEMS-INS/GPS integrated system designed by the fusion filter. In the filtering for nonlinear systems, the representative filter - EKF, and the alternative filters - RHKF filter, SPKF, etc. have individual merits and demerits. The key concept of the filter fusion is merging the strengths of the filters. This paper fuses the IIR-type filter - SPKF, and the FIR-type filter - RHKF filter using the adaptive strategy and applies the fusion filter to MEMS-INS/GPS integration. The fusion filter has several advantages over the EKF, SPKF, and RHKF filter. Simulation and experiment results verify that the proposed MEMS-INS/GPS using the fusion filter has robustness to the system uncertainty, temporary unknown bias, large initial estimation error, and so on.