Integrated INS/GPS/GLONASS navigation system based on three types of Kalman filtering algorithms

The Inertial Navigation System (INS) has the demerit of accumulation of the system error, although it has a lot of advantages in many other aspects. At present, the integrated navigation system of INS and the Satellite positioning systems, such as GPS and GLONASS, is still important means in navigation technology. In order to estimate the navigation parameters accurately, the Kalman filtering, technology, based on the optimal filter theory, is commonly used. The studying of INS/GPS/GLONASS integrated system presented in this paper is also build upon Kalman filtering technology. Three types of filtering algorithms, i.e. Centralized Kalman Filtering, Federal Kalman Filtering and INS/MIX Kalman Filtering, where MIX means the mixture of GPS and GLONASS, are discussed. The simulation results for the three types of algorithms are realized and compared.