Fusion of data from gps receivers based on a multi-sensor Kalman filter

In the age of continually developing satellite nav ig tion practically every ship is equipped with GPS receivers, providing the coordinates of her position. However, relying solely on the navigational data from one au tonomous receiver the navigator may expect that a given position is burdened with signi ficant errors or that the position data will be lost. This results from the shortcoming of GPS systems which are susceptible to disturbances affecting their operation. One method to substantially reduce such risk is a navigational system that makes use of a number of s ources for accurate position determination. The obtained data are processed, whi ch involves data integration and filtration in order to further diminish measurement errors. One possible solution is the application of a system based on an algorithm of mu lti-sensor navigational data fusion using a Kalman filter. After a brief description of the algorithm, this article presents some results of the fusion of data from parallel positio n measurements, where the data come from two mobile GPS receivers. The said solution is intended to be implemented in a navigational decision support system on board a sea -going vessel.