Study on MIMU/GPS Integrated Navigation System Based on Adaptive Kalman Filter

A low cost solid state MEMS Inertial Measurement Unit(MIMU)/GPS navigation system has been developed that incorporates measurements from a GPS system into the MIMU.This Paper analyzed the effects of the choice of the Kalman filter parameters(including the values of measurement noise variance R and the model noise variance Q) on state variables estimation accuracy of the low cost MIMU/GPS integration navigation systems.According to the analyzed results,an adaptive Kalman filter method was designed for the low cost MIMU/GPS system.The test results show that using adaptive Kalman filter,the perfect performance can be achieved for low-cost MIMU/GPS integrated navigation,and the positioning accuracy is better than 5 m and velocity accuracy is better than 0.1 m/s on the static condition,and the level attitude errors are better than 0.2°,heading attitude error is better than 0.5°(with digital compass aiding).