Performance Comparison of Adaptive Kalman Filter with Kalman Filter in INS/GPS Integration

This paper investigates information integration of the inertial navigation system and global positioning system.Adaptive Kalman filter algorithm has been used to improve the accuracy of the navigation system. This algorithmcontinuously updates the measurement and system noise covariance by collecting the calculated and measured valuesin past and present times. The comparison of simulation results obtained from estimating position, velocity andorientation by Kalman filter and adaptive Kalman filter algorithms shows that the performance of adaptive Kalmanfilter has a significant improvement compared to that of Kalman filter.

Keywords:

Inertial navigation system , Data fusion , Global positioning system , Adaptive Kalman filter