.gps / Ins Integrated Navigation System For The Filtering Problem

The GPS/INS navigation system is studied in the paper. Through analyzing the whole system, three problems, the GPS/INS integrated navigation, the GPS/INS federated filter navigation, the GPS/INS adaptive navigation are discussed in the view of theory and project.The integrated Kalman filter method is applied to vehicle navigation system in order to revise the error of INS , study a method of refraining filter divergence in order to improve filter accuracy. The federated filter is applied to the system in order to realize the failure detection and isolation and the question of information distribution. The adaptive filter is applied to the system in order to solve the question of inaccuracy or unknown noise statistics and to make navigation accuracy increase. By analyzing and discussing integrated filter, federated filter and adaptive filter, it concludes a feasible adaptive federated filter method for GPS/INS vehicle navigation system.