UKF Based filters in INS/GPS integrated navigation systems: A Theoretical study

The filtering problem in the INS/GPS integrated navigation system is investigated in this study. Firstly, the Unscented Kalman Filter is introduced in allusion to the nonlinear model of the integrated navigation system. And the appropriate modification on UKF which has strong tracking capability is proposed. This modified algorithm has high convergence speed to the system errors while its precision is similar to that of conventional UKF. Copyright © 2007 IFAC Keywords: Adaptive signal processing, integrated navigation system, INS/GPS, trace tracking, unscented Kalman filter, nonlinear control system