Research and Design of MEMS SINS/GPS Integrated Navigation System Based on Adaptive Filter

A MIMU/GPS integrated navigation system principle prototype is designed, and the structure of the system is introduced by different module. To handle the influence of Kalman filter parameters on system filtering performance (Including the system noise variance matrix Q and measurement noise covariance matrix R), adaptive estimation Kalman filter is designed. The test results show that satisfactory performance can be obtained using adaptive estimation techniques for the low-cost MIMU/GPS integrated navigation.

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