Application of adaptive Kalman filtering algorithm in IMU/GPS integrated navigation system
Open Access
- 1 January 2007
- journal article
- Published by Taylor & Francis Ltd in Geo-spatial Information Science
- Vol. 10 (1), 22-26
- https://doi.org/10.1007/s11806-007-0019-y
Abstract
The IMU(inertial measurement unit) error equations in the earth fixed coordinates are introduced firstly. A fading Kalman filtering is simply introduced and its shortcomings are analyzed, then an adaptive filtering is applied in IMU/GPS integrated navigation system, in which the adaptive factor is replaced by the fading factor. A practical example is given. The results prove that the adaptive filter combined with the fading factor is valid and reliable when applied in IMU/GPS integrated navigation system.Keywords
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