Core to integrated navigation systems is the concept of fusing noisy observations from GPS,
Inertial Measurement Units (IMU), and other available sensors. The current industry …

We present a novel Kalman filtering approach for GPS/INS integration. In the approach, GPS
and INS nonlinearities are preprocessed prior to a Kalman filter. The GPS preprocessed …

This paper describes the design of a tightly coupled GPS/INS integration system based on
nonlinear Kalman filtering methods. The traditional methods include linearization of the …

GPS and Inertial Navigation Systems are used for positioning and attitude determination in a
wide range of applications. Over the last few years, a number of low cost inertial sensors …

A sigma-point Kalman filter is derived for integrating GPS measurements with inertial
measurements from gyros and accelerometers to determine both the position and the …

We provide a tutorial-like description of Kalman filter and extended Kalman filter. This
chapter aims for those who need to teach Kalman filters to others, or for those who do not …

A decentralized Kalman filter strategy is presented and applied to GPS/INS (Global
Positioning System/inertial navigation system) integration. Two Kalman filters are used. One …

GPS and low-cost INS sensors are widely used for positioning and attitude determination
applications. Low-cost inertial sensors exhibit large errors that can be compensated using …

Kalman filters have been widely used for navigation and system integration. One of the key
problems associated with Kalman filters is how to assign suitable statistical properties to …

In tightly coupled GPS/INS integration, the data fusion algorithm is faced with nonlinear
system dynamics and measurement models. The extended Kalman filter (EKF) …