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Direct Kalman Filtering Approach for GPS/INS Integration

Qi, Honghui; Moore, John


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 data are taken as measurement input, while the INS preprocessed data are taken as additional information for the state prediction of the Kalman filter. The advantage of this approach, over the well-studied (extended) Kalman filtering approaches is that a simple and linear Kalman filter can be implemented to achieve...[Show more]

CollectionsANU Research Publications
Date published: 2002
Type: Journal article
Source: IEEE Transactions on Aerospace and Electronic Systems
DOI: 10.1109/TAES.2002.1008998


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