Extended Kalman filter synthesis for integrated global positioning/inertial navigation systems

The integrated global position system (GPS)/inertial navigation system (INS) is a cost-effective way of providing an accurate and reliable navigation system for civil and military aviation. These systems also provide low cost solutions to mid-course navigation and guidance of medium- and long-range weapon systems. In this paper, an error model developed earlier is used for GPS/INS filter mechanization (F.A. Faruqi, Derivation of an integrated GPS/INS non-linear filter model, QUT Report. AEAV/FAF/ 0501, October 1994 (unpublished)), utilizing the extended Kalman filtering technique. Computer simulation study to evaluate the filter performance is presented in the form of design parameter sensitivity plots. Filter convergence issues are addressed and beneficial effect of vehicle maneuvers during the initial phase is established. The study presented should allow optimum selection of filter design parameters. (C) 2000 Elsevier Science Inc, All rights reserved.