GPS/SINS integrated navigation system using an innovation-based adaptive Kalman Filter for land-vehicles

Based on the complementary features of GPS and SINS, a low-cost, high precision and robust navigation system for land-vehicles can be designed by integrating them effectively. And Kalman Filter is often used to fusion the data of them. But, the adaptability of the traditional filtering algorithm is poor because its filtering parameters can't adjust with the change of GPS' measurement noise. So we designed an innovation-based adaptive Kalman Filter. It uses the innovation sequence to estimate the measurement noise covariance matrix of the system in real-time, and switches between IAE and EKF algorithm depend on the stability of GPS' signal. The test result showed that this method can improve the filtering accuracy and stability of the GPS/SINS integrated navigation system for land-vehicles effectively.